2021-08-14T17:18:56.725Z,1628961536.725 [CommandLine](IMPORTANT): got command restart logs
2021-08-14T17:19:11.207Z,1628961551.207 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T17:19:11.209Z,1628961551.209 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T17:20:44.109Z,1628961644.109 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T172044
2021-08-14T17:20:52.144Z,1628961652.144 [DataOverHttps](INFO): Received command:set LineCapture.rolloutSpeed 1 meters_per_second
2021-08-14T17:20:54.715Z,1628961654.715 [CommandLine](IMPORTANT): got command set LineCapture.rolloutSpeed 1.000000 meter_per_second
2021-08-14T17:21:25.421Z,1628961685.421 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T17:21:25.421Z,1628961685.421 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T17:21:25.421Z,1628961685.421 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:21:25.422Z,1628961685.422 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T17:21:25.756Z,1628961685.756 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T17:21:25.756Z,1628961685.756 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T17:21:26.181Z,1628961686.181 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.885544 min 
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:21:26.182Z,1628961686.182 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T17:21:28.161Z,1628961688.161 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172128.00,A,4133.17308,N,07042.40249,W,0.097,120.03,140821,,,A*71
2021-08-14T17:21:28.163Z,1628961688.163 [NAL9602](INFO): GPS fix at 20210814T172128: (41.552885, -70.706708)
2021-08-14T17:21:28.182Z,1628961688.182 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T17:21:28.182Z,1628961688.182 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T17:21:35.903Z,1628961695.903 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T125729/Courier0054.lzma
2021-08-14T17:21:36.906Z,1628961696.906 [DataOverHttps](INFO): Moved sent file to Logs/20210814T125729/Courier0054.lzma.bak
2021-08-14T17:21:36.906Z,1628961696.906 [DataOverHttps](INFO): SBD MOMSN=438108
2021-08-14T17:21:39.050Z,1628961699.050 [NAL9602](INFO): SBD MO Status=0, MOMSN=23915, MT Status=0, MTMSN=0
2021-08-14T17:21:39.050Z,1628961699.050 [NAL9602](INFO): No messages in MT queue
2021-08-14T17:22:09.734Z,1628961729.734 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:22:37.153Z,1628961757.153 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247337
2021-08-14T17:22:51.068Z,1628961771.068 [NAL9602](INFO): SBD MO Status=1, MOMSN=23916, MT Status=0, MTMSN=0
2021-08-14T17:22:51.121Z,1628961771.121 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Courier0000.lzma
2021-08-14T17:22:51.122Z,1628961771.122 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:22:59.743Z,1628961779.743 [NAL9602](INFO): SBD MO Status=1, MOMSN=23917, MT Status=0, MTMSN=0
2021-08-14T17:22:59.793Z,1628961779.793 [NAL9602](INFO): Sent 137 bytes from file Logs/20210814T171856/Courier0000.lzma
2021-08-14T17:22:59.793Z,1628961779.793 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:23:06.052Z,1628961786.052 [NAL9602](INFO): SBD MO Status=1, MOMSN=23918, MT Status=0, MTMSN=0
2021-08-14T17:23:06.100Z,1628961786.100 [NAL9602](INFO): Sent 96 bytes from file Logs/20210814T125729/Express0055.lzma
2021-08-14T17:23:06.100Z,1628961786.100 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:23:08.276Z,1628961788.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:23:16.140Z,1628961796.140 [NAL9602](INFO): SBD MO Status=1, MOMSN=23919, MT Status=0, MTMSN=0
2021-08-14T17:23:16.188Z,1628961796.188 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0001.lzma
2021-08-14T17:23:16.188Z,1628961796.188 [NAL9602](INFO): Packets left to send: 2
2021-08-14T17:23:27.689Z,1628961807.689 [NAL9602](INFO): SBD MO Status=1, MOMSN=23920, MT Status=0, MTMSN=0
2021-08-14T17:23:27.741Z,1628961807.741 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0001.lzma
2021-08-14T17:23:27.741Z,1628961807.741 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:23:34.521Z,1628961814.521 [NAL9602](INFO): SBD MO Status=1, MOMSN=23921, MT Status=0, MTMSN=0
2021-08-14T17:23:34.572Z,1628961814.572 [NAL9602](INFO): Sent 67 bytes from file Logs/20210814T171856/Express0001.lzma
2021-08-14T17:23:34.572Z,1628961814.572 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:23:39.380Z,1628961819.380 [NAL9602](INFO): SBD MO Status=0, MOMSN=23922, MT Status=0, MTMSN=0
2021-08-14T17:23:47.897Z,1628961827.897 [NAL9602](INFO): SBD MO Status=0, MOMSN=23923, MT Status=0, MTMSN=0
2021-08-14T17:23:57.621Z,1628961837.621 [NAL9602](INFO): SBD MO Status=0, MOMSN=23924, MT Status=0, MTMSN=0
2021-08-14T17:24:05.704Z,1628961845.704 [NAL9602](INFO): SBD MO Status=0, MOMSN=23925, MT Status=0, MTMSN=0
2021-08-14T17:24:14.980Z,1628961854.980 [NAL9602](INFO): SBD MO Status=0, MOMSN=23926, MT Status=0, MTMSN=0
2021-08-14T17:24:24.666Z,1628961864.666 [NAL9602](INFO): SBD MO Status=0, MOMSN=23927, MT Status=0, MTMSN=0
2021-08-14T17:24:33.156Z,1628961873.156 [NAL9602](INFO): SBD MO Status=0, MOMSN=23928, MT Status=0, MTMSN=0
2021-08-14T17:24:40.424Z,1628961880.424 [NAL9602](INFO): SBD MO Status=0, MOMSN=23929, MT Status=0, MTMSN=0
2021-08-14T17:24:40.673Z,1628961880.673 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003594
2021-08-14T17:24:42.451Z,1628961882.451 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T17:24:42.452Z,1628961882.452 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T17:24:42.452Z,1628961882.452 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:25:11.145Z,1628961911.145 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:25:28.861Z,1628961928.861 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T172529
2021-08-14T17:25:30.523Z,1628961930.523 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:25:39.415Z,1628961939.415 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T17:26:15.774Z,1628961975.774 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-14T17:26:15.781Z,1628961975.781 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814172616.874849,06,339,25,0120,0150,149,01,01,00,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*59

2021-08-14T17:26:26.107Z,1628961986.107 [DataOverHttps](INFO): Received command:get lineCapture.NavigationGain
2021-08-14T17:26:27.739Z,1628961987.739 [CommandLine](IMPORTANT): got command get LineCapture.navigationGain
2021-08-14T17:26:27.741Z,1628961987.741 [CommandLine](IMPORTANT): LineCapture.navigationGain 3.000000 n/a
2021-08-14T17:26:49.709Z,1628962009.709 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:26:50.111Z,1628962010.111 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814172650.871278,06,210,23,0214,0150,149,03,03,00,03,-1,-01,-01,1,3,5,0,150,1.9,-0.75,-100,3.75,-01,-2.52,65,14500,4000*79

2021-08-14T17:27:28.080Z,1628962048.080 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T17:27:28.080Z,1628962048.080 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T17:27:28.082Z,1628962048.082 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:27:28.520Z,1628962048.520 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814172728.857381,06,1345,25,0099,0150,134,03,03,01,03,-1,-01,-01,1,3,3,0,150,75.0,1.23,-100,1.77,-01,-2.46,-18,14500,4000*7F

2021-08-14T17:27:56.113Z,1628962076.113 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.256088
2021-08-14T17:28:17.783Z,1628962097.783 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T17:28:17.783Z,1628962097.783 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T17:28:17.786Z,1628962097.786 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:28:18.182Z,1628962098.182 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814172816.884139,06,225,23,0108,0150,208,02,02,00,02,-1,-01,-01,1,3,4,0,150,81.8,-346.56,-100,-305.80,-01,0.00,-12,14500,4000*69

2021-08-14T17:28:27.875Z,1628962107.875 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:28:27.880Z,1628962107.880 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814172828.865838,06,996,23,0106,0150,134,01,01,01,01,-1,-01,-01,1,3,7,0,150,23.9,0.03,-100,2.97,-01,-1.26,54,14500,4000*6E

2021-08-14T17:28:45.312Z,1628962125.312 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003121
2021-08-14T17:29:41.407Z,1628962181.407 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:29:43.024Z,1628962183.024 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T17:29:43.025Z,1628962183.025 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T17:29:43.025Z,1628962183.025 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:29:43.025Z,1628962183.025 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T17:29:43.459Z,1628962183.459 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T17:29:43.459Z,1628962183.459 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T17:29:43.854Z,1628962183.854 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 18.180587 min 
2021-08-14T17:29:43.854Z,1628962183.854 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T17:29:43.854Z,1628962183.854 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:29:43.855Z,1628962183.855 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T17:29:43.855Z,1628962183.855 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:29:43.855Z,1628962183.855 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-08-14T17:29:43.855Z,1628962183.855 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-08-14T17:29:43.855Z,1628962183.855 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:29:43.855Z,1628962183.855 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T17:29:45.549Z,1628962185.549 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239479
2021-08-14T17:29:45.848Z,1628962185.848 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172946.00,A,4133.17335,N,07042.34534,W,0.117,112.07,140821,,,A*7D
2021-08-14T17:29:45.851Z,1628962185.851 [NAL9602](INFO): GPS fix at 20210814T172946: (41.552889, -70.705756)
2021-08-14T17:29:45.866Z,1628962185.866 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T17:29:45.867Z,1628962185.867 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T17:30:03.392Z,1628962203.392 [NAL9602](INFO): SBD MO Status=1, MOMSN=23930, MT Status=0, MTMSN=0
2021-08-14T17:30:03.442Z,1628962203.442 [NAL9602](INFO): Sent 72 bytes from file Logs/20210814T171856/Courier0005.lzma
2021-08-14T17:30:03.443Z,1628962203.443 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:30:19.028Z,1628962219.028 [NAL9602](INFO): SBD MO Status=2, MOMSN=23931, MT Status=2, MTMSN=0
2021-08-14T17:30:19.028Z,1628962219.028 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T17:30:35.905Z,1628962235.905 [NAL9602](INFO): SBD MO Status=1, MOMSN=23931, MT Status=0, MTMSN=0
2021-08-14T17:30:35.952Z,1628962235.952 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0004.lzma
2021-08-14T17:30:35.952Z,1628962235.952 [NAL9602](INFO): Packets left to send: 1
2021-08-14T17:30:37.756Z,1628962237.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:30:44.205Z,1628962244.205 [NAL9602](INFO): SBD MO Status=1, MOMSN=23932, MT Status=0, MTMSN=0
2021-08-14T17:30:44.252Z,1628962244.252 [NAL9602](INFO): Sent 38 bytes from file Logs/20210814T171856/Express0004.lzma
2021-08-14T17:30:44.252Z,1628962244.252 [NAL9602](INFO): Packets left to send: 0
2021-08-14T17:30:49.089Z,1628962249.089 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:30:51.099Z,1628962251.099 [NAL9602](INFO): SBD MO Status=0, MOMSN=23933, MT Status=0, MTMSN=0
2021-08-14T17:30:55.832Z,1628962255.832 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003103
2021-08-14T17:31:00.851Z,1628962260.851 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T171856/Courier0009.lzma
2021-08-14T17:31:01.169Z,1628962261.169 [NAL9602](INFO): SBD MO Status=0, MOMSN=23934, MT Status=0, MTMSN=0
2021-08-14T17:31:01.854Z,1628962261.854 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0009.lzma.bak
2021-08-14T17:31:01.854Z,1628962261.854 [DataOverHttps](INFO): SBD MOMSN=438169
2021-08-14T17:31:10.892Z,1628962270.892 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210814T171856/Express0010.lzma
2021-08-14T17:31:11.894Z,1628962271.894 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0010.lzma.bak
2021-08-14T17:31:11.894Z,1628962271.894 [DataOverHttps](INFO): SBD MOMSN=438171
2021-08-14T17:31:13.722Z,1628962273.722 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T17:31:13.722Z,1628962273.722 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T17:31:13.722Z,1628962273.722 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:31:31.871Z,1628962291.871 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:31:33.891Z,1628962293.891 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:31:33.911Z,1628962293.911 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173134.868482,06,218,23,0115,0150,149,02,02,00,03,-1,-01,-01,1,3,8,0,150,1.8,0.02,-100,2.98,-01,-2.96,64,14500,4000*56

2021-08-14T17:32:05.010Z,1628962325.010 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T17:32:05.011Z,1628962325.011 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T17:32:05.403Z,1628962325.403 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:32:05.416Z,1628962325.416 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173204.852980,06,1532,25,0094,0150,149,03,03,01,03,-1,-01,-01,1,3,7,0,150,81.9,-347.72,-100,-304.64,-01,0.00,-18,14500,4000*50

2021-08-14T17:32:30.052Z,1628962350.052 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T17:32:30.052Z,1628962350.052 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T17:32:30.054Z,1628962350.054 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:32:30.454Z,1628962350.454 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173230.854205,06,1325,25,0107,0150,223,02,02,01,02,-1,-01,-01,1,3,2,0,150,79.1,0.45,-100,2.55,-01,-0.78,-12,14500,4000*73

2021-08-14T17:32:33.693Z,1628962353.693 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:32:34.091Z,1628962354.091 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173234.859016,06,546,27,0202,0150,208,02,02,00,02,-1,-01,-01,1,3,1,0,150,8.0,0.13,-100,2.87,-01,0.74,64,14500,4000*71

2021-08-14T17:32:39.754Z,1628962359.754 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:32:39.784Z,1628962359.784 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173240.866747,06,135,15,0112,0150,223,02,02,01,02,-1,-01,-01,1,3,3,0,150,6.5,0.01,-100,2.99,-01,-2.11,65,14500,4000*5E

2021-08-14T17:32:47.424Z,1628962367.424 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T17:32:47.424Z,1628962367.424 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T17:32:47.426Z,1628962367.426 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:32:47.827Z,1628962367.827 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173246.877715,06,656,22,0113,0150,126,04,04,01,04,-1,-01,-01,1,3,7,0,150,80.1,2.06,-100,0.94,-01,0.98,-24,14500,4000*6A

2021-08-14T17:32:51.874Z,1628962371.874 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T17:32:52.270Z,1628962372.270 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173250.858737,06,346,25,0093,0150,156,01,01,00,01,6,-01,-01,2,3,3,0,150,8.6,-0.96,04,3.96,-01,-2.31,59,14500,4000*47

2021-08-14T17:35:02.003Z,1628962502.003 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:35:02.044Z,1628962502.044 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173502.864739,06,1345,25,0094,0150,149,02,02,01,02,-1,-01,-01,1,3,7,0,150,18.8,0.24,-100,2.76,-01,0.89,55,14500,4000*7E

2021-08-14T17:35:02.055Z,1628962502.055 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T17:35:23.934Z,1628962523.934 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T173524
2021-08-14T17:35:28.957Z,1628962528.957 [DataOverHttps](INFO): Received command:configSet LineCapture.navigationGain 4 none persist
2021-08-14T17:35:29.338Z,1628962529.338 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 4.000000 none persist
2021-08-14T17:36:14.327Z,1628962574.327 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T17:36:14.327Z,1628962574.327 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T17:36:14.327Z,1628962574.327 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:36:14.328Z,1628962574.328 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T17:36:14.714Z,1628962574.714 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T17:36:14.714Z,1628962574.714 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T17:36:15.187Z,1628962575.187 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 24.701501 min 
2021-08-14T17:36:15.187Z,1628962575.187 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T17:36:15.187Z,1628962575.187 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:36:15.187Z,1628962575.187 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T17:36:15.187Z,1628962575.187 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:36:15.192Z,1628962575.192 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-08-14T17:36:15.192Z,1628962575.192 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-08-14T17:36:15.192Z,1628962575.192 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:36:15.192Z,1628962575.192 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T17:36:17.134Z,1628962577.134 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173617.00,A,4133.17445,N,07042.30584,W,0.603,133.51,140821,,,A*7A
2021-08-14T17:36:17.137Z,1628962577.137 [NAL9602](INFO): GPS fix at 20210814T173617: (41.552908, -70.705097)
2021-08-14T17:36:17.195Z,1628962577.195 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T17:36:17.195Z,1628962577.195 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T17:36:21.163Z,1628962581.163 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210814T171856/Courier0012.lzma
2021-08-14T17:36:22.166Z,1628962582.166 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0012.lzma.bak
2021-08-14T17:36:22.166Z,1628962582.166 [DataOverHttps](INFO): SBD MOMSN=438217
2021-08-14T17:36:29.662Z,1628962589.662 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:36:34.215Z,1628962594.215 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T171856/Courier0015.lzma
2021-08-14T17:36:35.218Z,1628962595.218 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0015.lzma.bak
2021-08-14T17:36:35.218Z,1628962595.218 [DataOverHttps](INFO): SBD MOMSN=438220
2021-08-14T17:36:40.140Z,1628962600.140 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T17:36:40.140Z,1628962600.140 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T17:36:40.551Z,1628962600.551 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:36:40.958Z,1628962600.958 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173638.864775,06,147,21,0110,0150,156,01,01,00,01,-1,-01,-01,1,3,5,0,150,72.3,-345.64,-100,-306.72,-01,0.00,-6,14500,4000*52

2021-08-14T17:36:42.163Z,1628962602.163 [NAL9602](INFO): SBD MO Status=0, MOMSN=23935, MT Status=0, MTMSN=0
2021-08-14T17:36:42.163Z,1628962602.163 [NAL9602](INFO): No messages in MT queue
2021-08-14T17:36:47.268Z,1628962607.268 [DataOverHttps](INFO): Sending 216 bytes from file Logs/20210814T171856/Express0013.lzma
2021-08-14T17:36:48.270Z,1628962608.270 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0013.lzma.bak
2021-08-14T17:36:48.270Z,1628962608.270 [DataOverHttps](INFO): SBD MOMSN=438222
2021-08-14T17:36:58.312Z,1628962618.312 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210814T171856/Express0016.lzma
2021-08-14T17:37:00.318Z,1628962620.318 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0016.lzma.bak
2021-08-14T17:37:00.318Z,1628962620.318 [DataOverHttps](INFO): SBD MOMSN=438227
2021-08-14T17:37:01.979Z,1628962621.979 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T17:37:01.979Z,1628962621.979 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T17:37:01.979Z,1628962621.979 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:37:12.864Z,1628962632.864 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:37:31.457Z,1628962651.457 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:39:23.774Z,1628962763.774 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T17:39:23.781Z,1628962763.781 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814173924.869389,06,717,22,0100,0150,149,02,02,01,02,-1,-01,-01,1,3,4,0,150,18.0,0.11,-100,2.89,-01,-2.97,56,14500,4000*63

2021-08-14T17:39:26.917Z,1628962766.917 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T173927
2021-08-14T17:39:30.936Z,1628962770.936 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutDistance 2000 m persist
2021-08-14T17:39:31.301Z,1628962771.301 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutDistance 2000.000000 meter persist
2021-08-14T17:39:31.937Z,1628962771.937 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T173932
2021-08-14T17:39:35.959Z,1628962775.959 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutTimeout 7 min persist
2021-08-14T17:39:36.191Z,1628962776.191 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutTimeout 7.000000 minute persist
2021-08-14T17:42:02.540Z,1628962922.540 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-14T17:42:02.540Z,1628962922.540 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T17:42:02.540Z,1628962922.540 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:42:02.541Z,1628962922.541 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-14T17:42:02.954Z,1628962922.954 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-14T17:42:02.954Z,1628962922.954 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-14T17:42:03.394Z,1628962923.394 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 30.505503 min 
2021-08-14T17:42:03.394Z,1628962923.394 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:42:03.395Z,1628962923.395 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T17:42:05.361Z,1628962925.361 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,174206.00,A,4133.18058,N,07042.27306,W,0.350,40.84,140821,,,A*4A
2021-08-14T17:42:05.363Z,1628962925.363 [NAL9602](INFO): GPS fix at 20210814T174206: (41.553010, -70.704551)
2021-08-14T17:42:05.427Z,1628962925.427 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T17:42:05.427Z,1628962925.427 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T17:42:09.615Z,1628962929.615 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210814T171856/Courier0018.lzma
2021-08-14T17:42:10.618Z,1628962930.618 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0018.lzma.bak
2021-08-14T17:42:10.618Z,1628962930.618 [DataOverHttps](INFO): SBD MOMSN=438234
2021-08-14T17:42:15.864Z,1628962935.864 [NAL9602](INFO): SBD MO Status=0, MOMSN=23936, MT Status=0, MTMSN=0
2021-08-14T17:42:15.864Z,1628962935.864 [NAL9602](INFO): No messages in MT queue
2021-08-14T17:42:20.663Z,1628962940.663 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T171856/Courier0021.lzma
2021-08-14T17:42:22.670Z,1628962942.670 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0021.lzma.bak
2021-08-14T17:42:22.670Z,1628962942.670 [DataOverHttps](INFO): SBD MOMSN=438237
2021-08-14T17:42:33.724Z,1628962953.724 [DataOverHttps](INFO): Sending 245 bytes from file Logs/20210814T171856/Express0019.lzma
2021-08-14T17:42:34.726Z,1628962954.726 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0019.lzma.bak
2021-08-14T17:42:34.726Z,1628962954.726 [DataOverHttps](INFO): SBD MOMSN=438239
2021-08-14T17:42:43.774Z,1628962963.774 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210814T171856/Express0022.lzma
2021-08-14T17:42:44.774Z,1628962964.774 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0022.lzma.bak
2021-08-14T17:42:44.774Z,1628962964.774 [DataOverHttps](INFO): SBD MOMSN=438246
2021-08-14T17:42:46.570Z,1628962966.570 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:42:46.612Z,1628962966.612 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T17:42:46.612Z,1628962966.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T17:42:46.612Z,1628962966.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:44:08.118Z,1628963048.118 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T174407
2021-08-14T17:44:14.144Z,1628963054.144 [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" 2ril6 1 2
2021-08-14T17:44:14.229Z,1628963054.229 [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" 2ril6 1 2.000000
2021-08-14T17:44:14.229Z,1628963054.229 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2ril6
2021-08-14T17:44:14.230Z,1628963054.230 [CommandLine](IMPORTANT): Scheduled #10 (#1 of 2 with id='2ril6'): "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
2021-08-14T17:44:15.146Z,1628963055.146 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T174415
2021-08-14T17:44:19.164Z,1628963059.164 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2ril6 2 2
2021-08-14T17:44:19.174Z,1628963059.174 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2ril6 2 2.000000
2021-08-14T17:44:19.174Z,1628963059.174 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2ril6
2021-08-14T17:44:19.175Z,1628963059.175 [CommandLine](IMPORTANT): Scheduled #11 (#2 of 2 with id='2ril6'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T17:44:19.419Z,1628963059.419 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T17:44:19.419Z,1628963059.419 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T17:44:19.580Z,1628963059.580 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T17:44:19.582Z,1628963059.582 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T17:44:19.585Z,1628963059.585 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T17:44:19.587Z,1628963059.587 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T17:44:19.609Z,1628963059.609 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T17:44:19.617Z,1628963059.617 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T17:44:19.619Z,1628963059.619 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T17:44:19.622Z,1628963059.622 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T17:44:19.625Z,1628963059.625 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T17:44:19.627Z,1628963059.627 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T17:44:19.632Z,1628963059.632 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T17:44:19.634Z,1628963059.634 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T17:44:19.637Z,1628963059.637 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T17:44:19.639Z,1628963059.639 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T17:44:19.658Z,1628963059.658 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T17:44:19.659Z,1628963059.659 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T17:44:20.003Z,1628963060.003 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T17:44:20.016Z,1628963060.016 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T17:44:20.018Z,1628963060.018 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T17:44:20.021Z,1628963060.021 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T17:44:20.023Z,1628963060.023 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T17:44:20.025Z,1628963060.025 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T17:44:20.027Z,1628963060.027 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T17:44:20.030Z,1628963060.030 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T17:44:20.034Z,1628963060.034 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T17:44:20.036Z,1628963060.036 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T17:44:20.038Z,1628963060.038 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T17:44:20.040Z,1628963060.040 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T17:44:20.042Z,1628963060.042 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T17:44:20.044Z,1628963060.044 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T17:44:20.047Z,1628963060.047 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T17:44:20.050Z,1628963060.050 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T17:44:20.053Z,1628963060.053 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T17:44:20.088Z,1628963060.088 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T17:44:20.091Z,1628963060.091 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T17:44:20.102Z,1628963060.102 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T17:44:20.108Z,1628963060.108 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T17:44:20.113Z,1628963060.113 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T17:44:20.116Z,1628963060.116 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T17:44:20.118Z,1628963060.118 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T17:44:20.125Z,1628963060.125 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T17:44:20.127Z,1628963060.127 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T17:44:20.134Z,1628963060.134 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T17:44:20.141Z,1628963060.141 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T17:44:20.143Z,1628963060.143 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T17:44:20.156Z,1628963060.156 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T17:44:20.159Z,1628963060.159 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T17:44:20.191Z,1628963060.191 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T17:44:20.209Z,1628963060.209 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T17:44:20.220Z,1628963060.220 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T17:44:20.223Z,1628963060.223 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T17:44:20.229Z,1628963060.229 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T17:44:20.236Z,1628963060.236 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T17:44:20.239Z,1628963060.239 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T17:44:20.252Z,1628963060.252 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T17:44:20.255Z,1628963060.255 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T17:44:20.262Z,1628963060.262 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T17:44:20.267Z,1628963060.267 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T17:44:20.322Z,1628963060.322 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T17:44:20.325Z,1628963060.325 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T17:44:20.327Z,1628963060.327 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T17:44:20.351Z,1628963060.351 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T17:44:20.359Z,1628963060.359 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T17:44:20.362Z,1628963060.362 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T17:44:20.375Z,1628963060.375 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T17:44:20.378Z,1628963060.378 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T17:44:20.380Z,1628963060.380 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T17:44:20.383Z,1628963060.383 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T17:44:20.402Z,1628963060.402 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T17:44:20.404Z,1628963060.404 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T17:44:20.407Z,1628963060.407 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T17:44:20.409Z,1628963060.409 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T17:44:20.432Z,1628963060.432 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T17:44:20.434Z,1628963060.434 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T17:44:20.450Z,1628963060.450 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T17:44:20.452Z,1628963060.452 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T17:44:20.455Z,1628963060.455 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T17:44:20.472Z,1628963060.472 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T17:44:20.475Z,1628963060.475 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T17:44:20.485Z,1628963060.485 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T17:44:20.519Z,1628963060.519 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T17:44:20.552Z,1628963060.552 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T17:44:20.577Z,1628963060.577 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T17:44:20.597Z,1628963060.597 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T17:44:20.624Z,1628963060.624 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T17:44:20.649Z,1628963060.649 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T17:44:20.673Z,1628963060.673 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T17:44:20.737Z,1628963060.737 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T17:44:20.772Z,1628963060.772 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T17:44:20.821Z,1628963060.821 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T17:44:20.823Z,1628963060.823 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T17:44:20.830Z,1628963060.830 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T17:44:20.831Z,1628963060.831 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T17:44:20.846Z,1628963060.846 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T17:44:20.862Z,1628963060.862 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T17:44:20.879Z,1628963060.879 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T17:44:20.955Z,1628963060.955 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T17:44:20.965Z,1628963060.965 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T17:44:20.972Z,1628963060.972 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T17:44:20.975Z,1628963060.975 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T17:44:20.981Z,1628963060.981 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T17:44:20.988Z,1628963060.988 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T17:44:20.990Z,1628963060.990 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T17:44:21.009Z,1628963061.009 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T17:44:21.041Z,1628963061.041 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T17:44:21.121Z,1628963061.121 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T17:44:21.123Z,1628963061.123 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T17:44:21.131Z,1628963061.131 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T17:44:21.177Z,1628963061.177 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T17:44:21.375Z,1628963061.375 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T17:44:21.378Z,1628963061.378 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T17:44:21.380Z,1628963061.380 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T17:44:21.383Z,1628963061.383 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T17:44:21.386Z,1628963061.386 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T17:44:21.389Z,1628963061.389 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T17:44:21.391Z,1628963061.391 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T17:44:21.394Z,1628963061.394 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T17:44:21.397Z,1628963061.397 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T17:44:21.400Z,1628963061.400 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T17:44:21.402Z,1628963061.402 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T17:44:21.404Z,1628963061.404 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T17:44:21.407Z,1628963061.407 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T17:44:21.437Z,1628963061.437 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T17:44:21.445Z,1628963061.445 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T17:44:21.453Z,1628963061.453 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T17:44:21.455Z,1628963061.455 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T17:44:21.470Z,1628963061.470 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T17:44:21.528Z,1628963061.528 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T17:44:21.531Z,1628963061.531 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T17:44:21.542Z,1628963061.542 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T17:44:21.552Z,1628963061.552 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T17:44:21.555Z,1628963061.555 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T17:44:21.570Z,1628963061.570 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T17:44:21.580Z,1628963061.580 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T17:44:21.583Z,1628963061.583 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T17:44:21.599Z,1628963061.599 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T17:44:21.654Z,1628963061.654 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T17:44:21.713Z,1628963061.713 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T17:44:21.715Z,1628963061.715 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T17:44:21.725Z,1628963061.725 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T17:44:21.774Z,1628963061.774 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T17:44:21.834Z,1628963061.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T17:44:21.882Z,1628963061.882 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T17:44:21.889Z,1628963061.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T17:44:21.927Z,1628963061.927 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T17:44:21.927Z,1628963061.927 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:44:21.989Z,1628963061.989 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T17:44:21.996Z,1628963061.996 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T17:44:22.004Z,1628963062.004 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T17:44:22.029Z,1628963062.029 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T17:44:22.039Z,1628963062.039 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T17:44:22.060Z,1628963062.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T17:44:22.076Z,1628963062.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T17:44:22.090Z,1628963062.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T17:44:22.090Z,1628963062.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T17:44:22.103Z,1628963062.103 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T17:44:22.110Z,1628963062.110 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T17:44:22.132Z,1628963062.132 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T17:44:22.135Z,1628963062.135 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T17:44:22.138Z,1628963062.138 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T17:44:22.141Z,1628963062.141 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T17:44:22.167Z,1628963062.167 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T17:44:22.208Z,1628963062.208 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T17:44:22.208Z,1628963062.208 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T17:44:22.216Z,1628963062.216 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T17:44:22.216Z,1628963062.216 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:44:22.271Z,1628963062.271 [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>


2021-08-14T17:44:22.271Z,1628963062.271 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T17:44:36.183Z,1628963076.183 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-14T17:44:36.184Z,1628963076.184 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T17:44:36.185Z,1628963076.185 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T17:44:36.186Z,1628963076.186 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T17:44:42.380Z,1628963082.380 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T17:44:42.381Z,1628963082.381 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T17:44:42.381Z,1628963082.381 [CommandLine](IMPORTANT): got command run
2021-08-14T17:44:42.383Z,1628963082.383 [CommandLine](IMPORTANT): Running 
2021-08-14T17:44:42.539Z,1628963082.539 [DefaultWithUndock] Stopped
2021-08-14T17:44:42.539Z,1628963082.539 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T17:44:42.539Z,1628963082.539 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T17:44:42.539Z,1628963082.539 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T17:44:42.540Z,1628963082.540 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T17:44:42.540Z,1628963082.540 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T17:44:42.540Z,1628963082.540 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T17:44:42.540Z,1628963082.540 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T17:44:42.540Z,1628963082.540 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T17:44:42.540Z,1628963082.540 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:44:42.540Z,1628963082.540 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth] Running Loop=1
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T17:44:42.541Z,1628963082.541 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T17:44:42.542Z,1628963082.542 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T17:44:42.544Z,1628963082.544 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T17:44:42.544Z,1628963082.544 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T17:44:42.544Z,1628963082.544 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T17:44:42.544Z,1628963082.544 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T17:44:42.545Z,1628963082.545 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T17:44:42.545Z,1628963082.545 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T17:44:42.545Z,1628963082.545 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T17:44:42.545Z,1628963082.545 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T17:44:42.546Z,1628963082.546 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T17:44:42.546Z,1628963082.546 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T17:44:42.546Z,1628963082.546 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T17:44:42.547Z,1628963082.547 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T17:44:42.548Z,1628963082.548 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T17:44:42.548Z,1628963082.548 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T17:44:42.548Z,1628963082.548 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T17:44:42.548Z,1628963082.548 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T17:44:42.549Z,1628963082.549 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T17:44:42.549Z,1628963082.549 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T17:44:42.549Z,1628963082.549 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T17:44:42.549Z,1628963082.549 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T17:44:42.550Z,1628963082.550 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T17:44:42.550Z,1628963082.550 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T17:44:42.551Z,1628963082.551 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T17:44:42.551Z,1628963082.551 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T17:44:42.552Z,1628963082.552 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T17:44:42.552Z,1628963082.552 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T17:44:42.553Z,1628963082.553 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T17:44:42.553Z,1628963082.553 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T17:44:42.553Z,1628963082.553 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T17:44:42.554Z,1628963082.554 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T17:44:42.555Z,1628963082.555 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T17:44:42.556Z,1628963082.556 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T17:44:42.556Z,1628963082.556 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T17:44:42.556Z,1628963082.556 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T17:44:42.556Z,1628963082.556 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T17:44:42.556Z,1628963082.556 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:44:42.556Z,1628963082.556 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T17:44:42.557Z,1628963082.557 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T17:44:42.557Z,1628963082.557 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T17:44:42.557Z,1628963082.557 [lineCaptureDepth:C] Running Loop=1
2021-08-14T17:44:42.558Z,1628963082.558 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T17:44:42.559Z,1628963082.559 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T17:44:42.560Z,1628963082.560 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T17:44:42.560Z,1628963082.560 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T17:44:42.560Z,1628963082.560 [lineCaptureDepth:C] Stopped
2021-08-14T17:44:42.560Z,1628963082.560 [lineCaptureDepth:D] Running Loop=1
2021-08-14T17:44:42.560Z,1628963082.560 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T17:44:42.561Z,1628963082.561 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T17:44:42.561Z,1628963082.561 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T17:44:42.561Z,1628963082.561 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T17:44:42.562Z,1628963082.562 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T17:44:42.563Z,1628963082.563 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T17:44:42.564Z,1628963082.564 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T17:44:42.565Z,1628963082.565 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T17:44:42.566Z,1628963082.566 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T17:44:42.567Z,1628963082.567 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T17:44:42.568Z,1628963082.568 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T17:44:42.568Z,1628963082.568 [lineCaptureDepth:Science:F] Stopped
2021-08-14T17:44:42.568Z,1628963082.568 [lineCaptureDepth:Science:E] Stopped
2021-08-14T17:44:42.569Z,1628963082.569 [lineCaptureDepth:Science:D] Stopped
2021-08-14T17:44:42.569Z,1628963082.569 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T17:44:42.569Z,1628963082.569 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T17:44:42.570Z,1628963082.570 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T17:44:42.570Z,1628963082.570 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T17:44:42.570Z,1628963082.570 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T17:44:42.571Z,1628963082.571 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T17:44:42.571Z,1628963082.571 [lineCaptureDepth:Science:A] Stopped
2021-08-14T17:44:42.684Z,1628963082.684 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T17:44:42.955Z,1628963082.955 [lineCaptureDepth:D] Stopped
2021-08-14T17:44:42.955Z,1628963082.955 [lineCaptureDepth:E] Running Loop=1
2021-08-14T17:44:43.370Z,1628963083.370 [lineCaptureDepth:E] Stopped
2021-08-14T17:44:43.370Z,1628963083.370 [lineCaptureDepth:G] Running Loop=1
2021-08-14T17:44:43.754Z,1628963083.754 [lineCaptureDepth:G] Stopped
2021-08-14T17:44:43.754Z,1628963083.754 [lineCaptureDepth:H] Running Loop=1
2021-08-14T17:44:44.155Z,1628963084.155 [lineCaptureDepth:H] Stopped
2021-08-14T17:44:44.155Z,1628963084.155 [lineCaptureDepth:J] Running Loop=1
2021-08-14T17:44:44.548Z,1628963084.548 [lineCaptureDepth:J] Stopped
2021-08-14T17:44:44.548Z,1628963084.548 [lineCaptureDepth:M] Running Loop=1
2021-08-14T17:44:45.008Z,1628963085.008 [lineCaptureDepth:M] Stopped
2021-08-14T17:44:45.009Z,1628963085.009 [lineCaptureDepth:N] Running Loop=1
2021-08-14T17:44:45.392Z,1628963085.392 [lineCaptureDepth:N] Stopped
2021-08-14T17:44:45.392Z,1628963085.392 [lineCaptureDepth:O] Running Loop=1
2021-08-14T17:44:45.392Z,1628963085.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:44:45.733Z,1628963085.733 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T17:44:45.753Z,1628963085.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:44:45.753Z,1628963085.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:44:45.753Z,1628963085.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:44:45.754Z,1628963085.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:44:45.795Z,1628963085.795 [lineCaptureDepth:O] Stopped
2021-08-14T17:44:45.800Z,1628963085.800 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T17:44:45.800Z,1628963085.800 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T17:44:45.800Z,1628963085.800 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T17:44:46.163Z,1628963086.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFF,000,00357,18A,80,80,A6,FF
2021-08-14T17:44:46.163Z,1628963086.163 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:44:46.163Z,1628963086.163 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:44:46.166Z,1628963086.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:44:46.288Z,1628963086.288 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T17:44:46.288Z,1628963086.288 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T17:44:46.288Z,1628963086.288 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T17:44:46.561Z,1628963086.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:44:46.611Z,1628963086.611 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T17:44:46.611Z,1628963086.611 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T17:44:46.612Z,1628963086.612 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T17:44:46.612Z,1628963086.612 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T17:44:46.612Z,1628963086.612 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T17:44:46.612Z,1628963086.612 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T17:44:46.612Z,1628963086.612 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T17:44:46.612Z,1628963086.612 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T17:44:46.613Z,1628963086.613 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T17:44:46.614Z,1628963086.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T17:44:46.615Z,1628963086.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T17:44:46.615Z,1628963086.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T17:44:46.615Z,1628963086.615 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T17:44:46.615Z,1628963086.615 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T17:44:46.615Z,1628963086.615 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T17:44:46.615Z,1628963086.615 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T17:44:46.616Z,1628963086.616 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T17:44:46.616Z,1628963086.616 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T17:44:46.617Z,1628963086.617 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T17:44:46.617Z,1628963086.617 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T17:44:46.993Z,1628963086.993 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T17:44:46.993Z,1628963086.993 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T17:44:47.374Z,1628963087.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9B,000,01243,189,80,80,66,FF
2021-08-14T17:44:47.375Z,1628963087.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:44:47.390Z,1628963087.390 [Micromodem](INFO): Nmea in: $SNTTA,0.163875,,,,174448.04*40

2021-08-14T17:44:47.454Z,1628963087.454 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T17:44:47.454Z,1628963087.454 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T17:44:47.821Z,1628963087.821 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T17:44:47.821Z,1628963087.821 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T17:44:48.202Z,1628963088.202 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T17:44:48.202Z,1628963088.202 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T17:44:48.202Z,1628963088.202 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T17:44:48.203Z,1628963088.203 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:44:48.204Z,1628963088.204 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T17:44:48.204Z,1628963088.204 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:44:48.204Z,1628963088.204 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T17:44:48.204Z,1628963088.204 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T17:44:48.205Z,1628963088.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T17:44:48.206Z,1628963088.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T17:44:48.623Z,1628963088.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T17:44:48.624Z,1628963088.624 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T17:44:48.625Z,1628963088.625 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T17:44:49.001Z,1628963089.001 [PowerOnly](INFO): Powering up loadControl
2021-08-14T17:44:50.275Z,1628963090.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:44:50.625Z,1628963090.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:44:50.625Z,1628963090.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:44:50.625Z,1628963090.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:44:50.626Z,1628963090.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:44:51.045Z,1628963091.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9B,000,01243,189,80,80,66,FF
2021-08-14T17:44:51.045Z,1628963091.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:44:51.045Z,1628963091.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:44:51.110Z,1628963091.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:44:51.465Z,1628963091.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:44:51.499Z,1628963091.499 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T17:44:51.850Z,1628963091.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2B,000,01243,189,80,80,66,FF
2021-08-14T17:44:51.850Z,1628963091.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:44:51.900Z,1628963091.900 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T17:44:52.669Z,1628963092.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174452.99*5F

2021-08-14T17:44:53.490Z,1628963093.490 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:44:54.690Z,1628963094.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:44:55.101Z,1628963095.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:44:55.101Z,1628963095.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:44:55.101Z,1628963095.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:44:55.103Z,1628963095.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:44:55.477Z,1628963095.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2B,000,01243,189,80,80,66,FF
2021-08-14T17:44:55.477Z,1628963095.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:44:55.477Z,1628963095.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:44:55.479Z,1628963095.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:44:55.900Z,1628963095.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:44:56.721Z,1628963096.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,01252,187,80,80,2D,FF
2021-08-14T17:44:56.722Z,1628963096.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:44:56.725Z,1628963096.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174457.36*5F

2021-08-14T17:44:59.555Z,1628963099.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:44:59.929Z,1628963099.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:44:59.929Z,1628963099.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:44:59.929Z,1628963099.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:44:59.930Z,1628963099.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:00.321Z,1628963100.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,01252,187,80,80,2D,FF
2021-08-14T17:45:00.321Z,1628963100.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:00.321Z,1628963100.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:00.323Z,1628963100.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:00.742Z,1628963100.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:01.574Z,1628963101.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,01255,186,80,80,5C,FF
2021-08-14T17:45:01.574Z,1628963101.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:01.594Z,1628963101.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174502.20*59

2021-08-14T17:45:04.381Z,1628963104.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:04.772Z,1628963104.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:04.772Z,1628963104.772 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:04.772Z,1628963104.772 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:04.773Z,1628963104.773 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:05.176Z,1628963105.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,01255,186,80,80,5C,FF
2021-08-14T17:45:05.177Z,1628963105.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:05.177Z,1628963105.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:05.178Z,1628963105.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:05.590Z,1628963105.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:06.421Z,1628963106.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,0124F,189,80,80,40,FF
2021-08-14T17:45:06.421Z,1628963106.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:06.424Z,1628963106.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174507.06*58

2021-08-14T17:45:09.271Z,1628963109.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:09.633Z,1628963109.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:09.633Z,1628963109.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:09.634Z,1628963109.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:09.635Z,1628963109.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:10.042Z,1628963110.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,0124F,189,80,80,40,FF
2021-08-14T17:45:10.042Z,1628963110.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:10.042Z,1628963110.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:10.044Z,1628963110.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:10.427Z,1628963110.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:11.255Z,1628963111.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,0126C,189,80,80,98,FF
2021-08-14T17:45:11.255Z,1628963111.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:11.260Z,1628963111.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174511.92*52

2021-08-14T17:45:12.099Z,1628963112.099 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 245.46 m. Transitioning DDM to standby.
2021-08-14T17:45:14.089Z,1628963114.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:14.494Z,1628963114.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:14.494Z,1628963114.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:14.494Z,1628963114.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:14.495Z,1628963114.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:14.558Z,1628963114.558 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T17:45:14.877Z,1628963114.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,0126C,189,80,80,98,FF
2021-08-14T17:45:14.877Z,1628963114.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:14.877Z,1628963114.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:14.879Z,1628963114.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:14.964Z,1628963114.964 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T17:45:14.965Z,1628963114.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T17:45:14.965Z,1628963114.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T17:45:15.252Z,1628963115.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:15.322Z,1628963115.322 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T17:45:15.322Z,1628963115.322 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T17:45:15.322Z,1628963115.322 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T17:45:15.800Z,1628963115.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T17:45:15.800Z,1628963115.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T17:45:15.800Z,1628963115.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T17:45:15.800Z,1628963115.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T17:45:15.801Z,1628963115.801 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T17:45:16.078Z,1628963116.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174516.76*5F

2021-08-14T17:45:16.100Z,1628963116.100 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T17:45:16.101Z,1628963116.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:45:16.101Z,1628963116.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T17:45:16.101Z,1628963116.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:45:16.101Z,1628963116.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T17:45:16.101Z,1628963116.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T17:45:16.102Z,1628963116.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T17:45:16.102Z,1628963116.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T17:45:16.102Z,1628963116.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T17:45:16.102Z,1628963116.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T17:45:16.102Z,1628963116.102 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T17:45:16.103Z,1628963116.103 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T17:45:16.103Z,1628963116.103 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T17:45:16.104Z,1628963116.104 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T17:45:16.106Z,1628963116.106 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T17:45:16.107Z,1628963116.107 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 245.459991 m 
2021-08-14T17:45:16.107Z,1628963116.107 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T17:45:16.107Z,1628963116.107 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T17:45:16.133Z,1628963116.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T17:45:16.133Z,1628963116.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T17:45:16.133Z,1628963116.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T17:45:16.133Z,1628963116.133 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T17:45:16.470Z,1628963116.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T17:45:16.471Z,1628963116.471 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T17:45:16.471Z,1628963116.471 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T17:45:16.471Z,1628963116.471 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T17:45:16.471Z,1628963116.471 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T17:45:16.471Z,1628963116.471 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T17:45:16.472Z,1628963116.471 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T17:45:16.910Z,1628963116.910 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T17:45:16.910Z,1628963116.910 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T17:45:16.910Z,1628963116.910 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T17:45:16.916Z,1628963116.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T17:45:16.917Z,1628963116.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:45:16.917Z,1628963116.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T17:45:16.917Z,1628963116.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:45:16.917Z,1628963116.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T17:45:16.917Z,1628963116.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T17:45:16.918Z,1628963116.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T17:45:16.918Z,1628963116.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T17:45:16.918Z,1628963116.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T17:45:16.918Z,1628963116.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T17:45:16.918Z,1628963116.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T17:45:16.918Z,1628963116.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T17:45:16.919Z,1628963116.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T17:45:16.928Z,1628963116.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T17:45:16.928Z,1628963116.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T17:45:16.928Z,1628963116.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T17:45:16.928Z,1628963116.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T17:45:16.928Z,1628963116.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T17:45:16.929Z,1628963116.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T17:45:16.930Z,1628963116.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T17:45:16.931Z,1628963116.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T17:45:16.932Z,1628963116.932 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T17:45:16.932Z,1628963116.932 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:45:16.932Z,1628963116.932 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T17:45:16.933Z,1628963116.933 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:45:16.933Z,1628963116.933 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T17:45:16.933Z,1628963116.933 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T17:45:16.933Z,1628963116.933 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T17:45:16.933Z,1628963116.933 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T17:45:16.933Z,1628963116.933 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T17:45:16.942Z,1628963116.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:17.312Z,1628963117.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.459991 m, bearing: 266.884369 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T17:45:17.313Z,1628963117.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 266.884369deg and heading rate command to 0 deg/s.
2021-08-14T17:45:18.174Z,1628963118.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,98,FF
2021-08-14T17:45:18.174Z,1628963118.174 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,98,FF
2021-08-14T17:45:18.174Z,1628963118.174 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:45:19.751Z,1628963119.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:20.131Z,1628963120.131 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:20.131Z,1628963120.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:20.131Z,1628963120.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:20.133Z,1628963120.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:20.541Z,1628963120.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,98,FF
2021-08-14T17:45:20.541Z,1628963120.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:20.541Z,1628963120.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:20.543Z,1628963120.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:20.950Z,1628963120.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:21.817Z,1628963121.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,01282,186,80,80,85,FF
2021-08-14T17:45:21.818Z,1628963121.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:21.821Z,1628963121.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174522.42*5F

2021-08-14T17:45:22.265Z,1628963122.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.779999 m, bearing: 207.806730 deg, deltaT: 10.521762 s, approachRate: 0.125455 m/s, LOS rate: -5.614805 deg/s, posRepo size: 2
2021-08-14T17:45:22.266Z,1628963122.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -5.614805 deg/s. Setting heading cmd to target bearing of 207.806730deg and heading rate command to 0 deg/s.
2021-08-14T17:45:24.681Z,1628963124.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:25.083Z,1628963125.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:25.084Z,1628963125.084 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:25.085Z,1628963125.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:25.086Z,1628963125.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:25.158Z,1628963125.158 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T17:45:25.529Z,1628963125.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,01282,186,80,80,85,FF
2021-08-14T17:45:25.529Z,1628963125.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:25.529Z,1628963125.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:25.531Z,1628963125.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:25.960Z,1628963125.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:26.790Z,1628963126.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C99,000,01282,189,80,80,70,FF
2021-08-14T17:45:26.790Z,1628963126.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:26.793Z,1628963126.793 [Micromodem](INFO): Nmea in: $SNTTA,0.166975,,,,174527.41*4D

2021-08-14T17:45:27.263Z,1628963127.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.779999 m, bearing: 271.267493 deg, deltaT: 5.028049 s, approachRate: 0.000000 m/s, LOS rate: 12.621349 deg/s, posRepo size: 3
2021-08-14T17:45:27.263Z,1628963127.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.621349 deg/s. Setting heading cmd to target bearing of 271.267493deg and heading rate command to 0 deg/s.
2021-08-14T17:45:29.664Z,1628963129.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:29.995Z,1628963129.995 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:29.995Z,1628963129.995 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:29.995Z,1628963129.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:29.996Z,1628963129.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:30.399Z,1628963130.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C99,000,01282,189,80,80,70,FF
2021-08-14T17:45:30.399Z,1628963130.399 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:30.399Z,1628963130.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:30.401Z,1628963130.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:30.833Z,1628963130.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:31.658Z,1628963131.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0126D,186,80,80,62,FF
2021-08-14T17:45:31.658Z,1628963131.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:31.661Z,1628963131.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174532.28*52

2021-08-14T17:45:32.091Z,1628963132.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.519974 m, bearing: 258.366385 deg, deltaT: 4.905833 s, approachRate: -0.256842 m/s, LOS rate: -2.629749 deg/s, posRepo size: 4
2021-08-14T17:45:32.109Z,1628963132.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.519974 m,
      bearing: 258.366385 deg,
      approachRate: -0.256842 m/s,
      LOS rate: -2.629749 deg/s,
      cmd update: -10.518994 deg/s,
      cmd heading: 271.267493 deg,
      new cmd heading: 271.267493 deg.

2021-08-14T17:45:34.517Z,1628963134.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:34.873Z,1628963134.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:34.873Z,1628963134.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:34.873Z,1628963134.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:34.874Z,1628963134.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:35.277Z,1628963135.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0126D,186,80,80,62,FF
2021-08-14T17:45:35.277Z,1628963135.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:35.277Z,1628963135.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:35.279Z,1628963135.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:35.327Z,1628963135.327 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T17:45:35.685Z,1628963135.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:36.513Z,1628963136.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,01246,186,80,80,8D,FF
2021-08-14T17:45:36.514Z,1628963136.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:36.516Z,1628963136.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174537.16*5A

2021-08-14T17:45:36.934Z,1628963136.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.179993 m, bearing: 268.317097 deg, deltaT: 4.753909 s, approachRate: -0.492223 m/s, LOS rate: 2.093164 deg/s, posRepo size: 4
2021-08-14T17:45:36.936Z,1628963136.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.179993 m,
      bearing: 268.317097 deg,
      approachRate: -0.492223 m/s,
      LOS rate: 2.093164 deg/s,
      cmd update: 8.372656 deg/s,
      cmd heading: 221.094994 deg,
      new cmd heading: 216.876351 deg.

2021-08-14T17:45:39.367Z,1628963139.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:39.721Z,1628963139.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:39.721Z,1628963139.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:39.721Z,1628963139.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:39.722Z,1628963139.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:40.129Z,1628963140.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,01246,186,80,80,8D,FF
2021-08-14T17:45:40.129Z,1628963140.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:40.129Z,1628963140.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:40.131Z,1628963140.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:40.533Z,1628963140.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:41.365Z,1628963141.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,01222,183,80,80,5D,FF
2021-08-14T17:45:41.365Z,1628963141.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:41.368Z,1628963141.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174542.01*5E

2021-08-14T17:45:41.821Z,1628963141.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.019989 m, bearing: 259.747750 deg, deltaT: 4.908673 s, approachRate: -0.440038 m/s, LOS rate: -1.745756 deg/s, posRepo size: 4
2021-08-14T17:45:41.823Z,1628963141.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.019989 m,
      bearing: 259.747750 deg,
      approachRate: -0.440038 m/s,
      LOS rate: -1.745756 deg/s,
      cmd update: -6.983025 deg/s,
      cmd heading: 262.196864 deg,
      new cmd heading: 265.367078 deg.

2021-08-14T17:45:44.173Z,1628963144.173 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:45:44.190Z,1628963144.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:44.582Z,1628963144.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:44.582Z,1628963144.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:44.582Z,1628963144.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:44.582Z,1628963144.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:44.973Z,1628963144.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,01222,183,80,80,5D,FF
2021-08-14T17:45:44.974Z,1628963144.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:44.974Z,1628963144.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:44.975Z,1628963144.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:45.445Z,1628963145.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:45.499Z,1628963145.499 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-14T17:45:46.241Z,1628963146.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,011F9,186,80,80,93,FF
2021-08-14T17:45:46.241Z,1628963146.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:46.264Z,1628963146.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174546.85*56

2021-08-14T17:45:46.692Z,1628963146.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.559982 m, bearing: 265.516610 deg, deltaT: 4.867837 s, approachRate: -0.505359 m/s, LOS rate: 1.185097 deg/s, posRepo size: 4
2021-08-14T17:45:46.694Z,1628963146.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.559982 m,
      bearing: 265.516610 deg,
      approachRate: -0.505359 m/s,
      LOS rate: 1.185097 deg/s,
      cmd update: 4.740389 deg/s,
      cmd heading: 228.351350 deg,
      new cmd heading: 225.537415 deg.

2021-08-14T17:45:49.157Z,1628963149.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:49.509Z,1628963149.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:49.509Z,1628963149.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:49.509Z,1628963149.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:49.510Z,1628963149.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:49.881Z,1628963149.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,011F9,186,80,80,93,FF
2021-08-14T17:45:49.881Z,1628963149.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:49.881Z,1628963149.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:49.883Z,1628963149.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:50.312Z,1628963150.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:51.177Z,1628963151.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D12,000,011D6,189,80,80,A6,FF
2021-08-14T17:45:51.177Z,1628963151.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:51.180Z,1628963151.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174551.76*5C

2021-08-14T17:45:51.572Z,1628963151.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.459991 m, bearing: 265.617833 deg, deltaT: 4.958417 s, approachRate: -0.423520 m/s, LOS rate: 0.020414 deg/s, posRepo size: 4
2021-08-14T17:45:51.575Z,1628963151.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.459991 m,
      bearing: 265.617833 deg,
      approachRate: -0.423520 m/s,
      LOS rate: 0.020414 deg/s,
      cmd update: 0.081658 deg/s,
      cmd heading: 251.936078 deg,
      new cmd heading: 253.389268 deg.

2021-08-14T17:45:53.978Z,1628963153.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:54.362Z,1628963154.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:54.362Z,1628963154.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:54.362Z,1628963154.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:54.363Z,1628963154.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:54.753Z,1628963154.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D12,000,011D6,189,80,80,A6,FF
2021-08-14T17:45:54.753Z,1628963154.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:54.753Z,1628963154.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:54.755Z,1628963154.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:45:55.192Z,1628963155.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:45:55.210Z,1628963155.210 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:45:56.029Z,1628963156.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC2,000,011BE,189,80,80,A0,FF
2021-08-14T17:45:56.029Z,1628963156.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:45:56.032Z,1628963156.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174556.63*5F

2021-08-14T17:45:56.440Z,1628963156.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.019989 m, bearing: 266.466471 deg, deltaT: 4.830427 s, approachRate: -0.298111 m/s, LOS rate: 0.175686 deg/s, posRepo size: 4
2021-08-14T17:45:56.442Z,1628963156.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.019989 m,
      bearing: 266.466471 deg,
      approachRate: -0.298111 m/s,
      LOS rate: 0.175686 deg/s,
      cmd update: 0.702743 deg/s,
      cmd heading: 252.330530 deg,
      new cmd heading: 252.357434 deg.

2021-08-14T17:45:58.847Z,1628963158.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:45:59.225Z,1628963159.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:45:59.225Z,1628963159.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:45:59.225Z,1628963159.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:45:59.226Z,1628963159.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:45:59.629Z,1628963159.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC2,000,011BE,189,80,80,A0,FF
2021-08-14T17:45:59.629Z,1628963159.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:45:59.629Z,1628963159.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:45:59.631Z,1628963159.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:00.028Z,1628963160.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:00.857Z,1628963160.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D49,000,0119D,189,80,80,4B,FF
2021-08-14T17:46:00.857Z,1628963160.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:00.860Z,1628963160.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174601.51*5F

2021-08-14T17:46:01.289Z,1628963161.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.039993 m, bearing: 276.837648 deg, deltaT: 4.812573 s, approachRate: -0.411421 m/s, LOS rate: 2.155017 deg/s, posRepo size: 4
2021-08-14T17:46:01.291Z,1628963161.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.039993 m,
      bearing: 276.837648 deg,
      approachRate: -0.411421 m/s,
      LOS rate: 2.155017 deg/s,
      cmd update: 8.620069 deg/s,
      cmd heading: 255.691166 deg,
      new cmd heading: 255.980954 deg.

2021-08-14T17:46:03.756Z,1628963163.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:04.073Z,1628963164.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:04.073Z,1628963164.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:04.073Z,1628963164.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:04.074Z,1628963164.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:04.473Z,1628963164.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D49,000,0119D,189,80,80,4B,FF
2021-08-14T17:46:04.473Z,1628963164.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:04.473Z,1628963164.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:04.475Z,1628963164.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:04.876Z,1628963164.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:05.724Z,1628963165.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,0116C,187,80,80,61,FF
2021-08-14T17:46:05.725Z,1628963165.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:05.727Z,1628963165.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174606.35*5A

2021-08-14T17:46:06.154Z,1628963166.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.099991 m, bearing: 269.295125 deg, deltaT: 4.832654 s, approachRate: -0.608362 m/s, LOS rate: -1.560741 deg/s, posRepo size: 4
2021-08-14T17:46:06.161Z,1628963166.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.099991 m,
      bearing: 269.295125 deg,
      approachRate: -0.608362 m/s,
      LOS rate: -1.560741 deg/s,
      cmd update: -6.242966 deg/s,
      cmd heading: 297.645138 deg,
      new cmd heading: 301.185271 deg.

2021-08-14T17:46:08.549Z,1628963168.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:08.913Z,1628963168.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:08.913Z,1628963168.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:08.913Z,1628963168.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:08.914Z,1628963168.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:09.326Z,1628963169.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,0116C,187,80,80,61,FF
2021-08-14T17:46:09.326Z,1628963169.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:09.326Z,1628963169.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:09.328Z,1628963169.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:09.764Z,1628963169.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:10.574Z,1628963170.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,0112E,186,80,80,66,FF
2021-08-14T17:46:10.575Z,1628963170.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:10.579Z,1628963170.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174611.21*59

2021-08-14T17:46:11.019Z,1628963171.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.379990 m, bearing: 269.876511 deg, deltaT: 4.914910 s, approachRate: -0.756881 m/s, LOS rate: 0.118290 deg/s, posRepo size: 4
2021-08-14T17:46:11.021Z,1628963171.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.379990 m,
      bearing: 269.876511 deg,
      approachRate: -0.756881 m/s,
      LOS rate: 0.118290 deg/s,
      cmd update: 0.473161 deg/s,
      cmd heading: 266.986614 deg,
      new cmd heading: 264.711827 deg.

2021-08-14T17:46:13.454Z,1628963173.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:13.797Z,1628963173.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:13.797Z,1628963173.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:13.797Z,1628963173.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:13.798Z,1628963173.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:14.209Z,1628963174.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,0112E,186,80,80,66,FF
2021-08-14T17:46:14.209Z,1628963174.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:14.209Z,1628963174.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:14.211Z,1628963174.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:14.613Z,1628963174.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:15.445Z,1628963175.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,01112,185,80,80,79,FF
2021-08-14T17:46:15.446Z,1628963175.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:15.449Z,1628963175.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174616.09*54

2021-08-14T17:46:15.463Z,1628963175.463 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T17:46:15.857Z,1628963175.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.699982 m, bearing: 267.791254 deg, deltaT: 4.862765 s, approachRate: -0.345484 m/s, LOS rate: -0.428821 deg/s, posRepo size: 4
2021-08-14T17:46:15.859Z,1628963175.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.699982 m,
      bearing: 267.791254 deg,
      approachRate: -0.345484 m/s,
      LOS rate: -0.428821 deg/s,
      cmd update: -1.715285 deg/s,
      cmd heading: 269.283519 deg,
      new cmd heading: 269.448470 deg.

2021-08-14T17:46:18.315Z,1628963178.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:18.653Z,1628963178.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:18.653Z,1628963178.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:18.653Z,1628963178.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:18.654Z,1628963178.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:19.053Z,1628963179.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,01112,185,80,80,79,FF
2021-08-14T17:46:19.053Z,1628963179.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:19.054Z,1628963179.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:19.061Z,1628963179.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:19.465Z,1628963179.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:20.289Z,1628963180.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,010D4,186,80,80,8B,FF
2021-08-14T17:46:20.289Z,1628963180.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:20.292Z,1628963180.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174620.94*55

2021-08-14T17:46:20.294Z,1628963180.294 [PowerOnly](INFO): Powering down loadControl
2021-08-14T17:46:20.705Z,1628963180.705 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-14T17:46:20.713Z,1628963180.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.979980 m, bearing: 270.998192 deg, deltaT: 4.811926 s, approachRate: -0.773079 m/s, LOS rate: 0.666456 deg/s, posRepo size: 4
2021-08-14T17:46:20.715Z,1628963180.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.979980 m,
      bearing: 270.998192 deg,
      approachRate: -0.773079 m/s,
      LOS rate: 0.666456 deg/s,
      cmd update: 2.665825 deg/s,
      cmd heading: 261.050248 deg,
      new cmd heading: 260.357168 deg.

2021-08-14T17:46:21.132Z,1628963181.132 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T17:46:23.256Z,1628963183.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:23.505Z,1628963183.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:23.505Z,1628963183.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:23.505Z,1628963183.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:23.506Z,1628963183.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:23.901Z,1628963183.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,010D4,186,80,80,8B,FF
2021-08-14T17:46:23.901Z,1628963183.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:23.901Z,1628963183.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:23.903Z,1628963183.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:24.316Z,1628963184.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:25.217Z,1628963185.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,010A4,185,80,80,93,FF
2021-08-14T17:46:25.218Z,1628963185.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:25.220Z,1628963185.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174625.78*52

2021-08-14T17:46:25.545Z,1628963185.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.099976 m, bearing: 271.483217 deg, deltaT: 4.975411 s, approachRate: -0.578848 m/s, LOS rate: 0.097484 deg/s, posRepo size: 4
2021-08-14T17:46:25.548Z,1628963185.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.099976 m,
      bearing: 271.483217 deg,
      approachRate: -0.578848 m/s,
      LOS rate: 0.097484 deg/s,
      cmd update: 0.389938 deg/s,
      cmd heading: 274.356379 deg,
      new cmd heading: 275.005124 deg.

2021-08-14T17:46:27.955Z,1628963187.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:28.349Z,1628963188.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:28.349Z,1628963188.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:28.349Z,1628963188.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:28.350Z,1628963188.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:28.745Z,1628963188.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,010A4,185,80,80,93,FF
2021-08-14T17:46:28.745Z,1628963188.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:28.746Z,1628963188.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:28.747Z,1628963188.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:29.175Z,1628963189.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:29.985Z,1628963189.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,01084,186,80,80,78,FF
2021-08-14T17:46:29.985Z,1628963189.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:29.989Z,1628963189.989 [Micromodem](INFO): Nmea in: $SNTTA,0.065966,,,,174630.62*49

2021-08-14T17:46:30.400Z,1628963190.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.179993 m, bearing: 269.938911 deg, deltaT: 4.745551 s, approachRate: -0.404586 m/s, LOS rate: -0.325422 deg/s, posRepo size: 4
2021-08-14T17:46:30.402Z,1628963190.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.179993 m,
      bearing: 269.938911 deg,
      approachRate: -0.404586 m/s,
      LOS rate: -0.325422 deg/s,
      cmd update: -1.301687 deg/s,
      cmd heading: 276.208595 deg,
      new cmd heading: 276.344853 deg.

2021-08-14T17:46:32.849Z,1628963192.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:33.205Z,1628963193.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:33.205Z,1628963193.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:33.205Z,1628963193.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:33.206Z,1628963193.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:33.605Z,1628963193.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,01084,186,80,80,78,FF
2021-08-14T17:46:33.605Z,1628963193.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:33.606Z,1628963193.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:33.607Z,1628963193.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:34.008Z,1628963194.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:34.833Z,1628963194.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,01043,186,80,80,76,FF
2021-08-14T17:46:34.834Z,1628963194.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:34.837Z,1628963194.837 [Micromodem](INFO): Nmea in: $SNTTA,0.164170,,,,174635.48*4B

2021-08-14T17:46:35.259Z,1628963195.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T17:46:35.311Z,1628963195.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.279984 m, bearing: 269.948310 deg, deltaT: 4.822932 s, approachRate: -0.808639 m/s, LOS rate: 0.001949 deg/s, posRepo size: 4
2021-08-14T17:46:35.318Z,1628963195.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.279984 m,
      bearing: 269.948310 deg,
      approachRate: -0.808639 m/s,
      LOS rate: 0.001949 deg/s,
      cmd update: 0.007795 deg/s,
      cmd heading: 269.957709 deg,
      new cmd heading: 269.360485 deg.

2021-08-14T17:46:37.689Z,1628963197.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:38.050Z,1628963198.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:38.050Z,1628963198.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:38.050Z,1628963198.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:38.051Z,1628963198.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:38.441Z,1628963198.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,01043,186,80,80,76,FF
2021-08-14T17:46:38.441Z,1628963198.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:38.442Z,1628963198.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:38.443Z,1628963198.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:38.859Z,1628963198.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:39.685Z,1628963199.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,01013,184,80,80,88,FF
2021-08-14T17:46:39.685Z,1628963199.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:39.689Z,1628963199.689 [Micromodem](INFO): Nmea in: $SNTTA,0.165125,,,,174640.32*45

2021-08-14T17:46:40.130Z,1628963200.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.399994 m, bearing: 270.538220 deg, deltaT: 4.885330 s, approachRate: -0.589518 m/s, LOS rate: 0.120751 deg/s, posRepo size: 4
2021-08-14T17:46:40.133Z,1628963200.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.399994 m,
      bearing: 270.538220 deg,
      approachRate: -0.589518 m/s,
      LOS rate: 0.120751 deg/s,
      cmd update: 0.483005 deg/s,
      cmd heading: 269.995828 deg,
      new cmd heading: 269.998850 deg.

2021-08-14T17:46:42.499Z,1628963202.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:42.898Z,1628963202.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:42.898Z,1628963202.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:42.898Z,1628963202.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:42.899Z,1628963202.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:43.297Z,1628963203.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,01013,184,80,80,88,FF
2021-08-14T17:46:43.297Z,1628963203.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:43.297Z,1628963203.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:43.299Z,1628963203.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:43.699Z,1628963203.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:44.530Z,1628963204.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,00FE0,184,80,80,57,FF
2021-08-14T17:46:44.531Z,1628963204.531 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:44.535Z,1628963204.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174645.18*52

2021-08-14T17:46:44.966Z,1628963204.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.339996 m, bearing: 271.310140 deg, deltaT: 4.831090 s, approachRate: -0.633397 m/s, LOS rate: 0.159782 deg/s, posRepo size: 4
2021-08-14T17:46:44.973Z,1628963204.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.339996 m,
      bearing: 271.310140 deg,
      approachRate: -0.633397 m/s,
      LOS rate: 0.159782 deg/s,
      cmd update: 0.639128 deg/s,
      cmd heading: 272.322954 deg,
      new cmd heading: 272.518836 deg.

2021-08-14T17:46:47.394Z,1628963207.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:47.733Z,1628963207.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:47.733Z,1628963207.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:47.734Z,1628963207.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:47.735Z,1628963207.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:48.158Z,1628963208.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,00FE0,184,80,80,57,FF
2021-08-14T17:46:48.158Z,1628963208.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:48.159Z,1628963208.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:48.174Z,1628963208.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:48.546Z,1628963208.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:49.358Z,1628963209.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00FB0,186,80,80,AE,FF
2021-08-14T17:46:49.359Z,1628963209.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:49.366Z,1628963209.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174650.05*5A

2021-08-14T17:46:49.795Z,1628963209.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.459991 m, bearing: 270.070843 deg, deltaT: 4.870391 s, approachRate: -0.591329 m/s, LOS rate: -0.254455 deg/s, posRepo size: 4
2021-08-14T17:46:49.797Z,1628963209.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.459991 m,
      bearing: 270.070843 deg,
      approachRate: -0.591329 m/s,
      LOS rate: -0.254455 deg/s,
      cmd update: -1.017821 deg/s,
      cmd heading: 275.454184 deg,
      new cmd heading: 275.668454 deg.

2021-08-14T17:46:52.211Z,1628963212.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:52.626Z,1628963212.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:52.626Z,1628963212.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:52.627Z,1628963212.627 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:52.629Z,1628963212.629 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:52.991Z,1628963212.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00FB0,186,80,80,AE,FF
2021-08-14T17:46:52.991Z,1628963212.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:52.991Z,1628963212.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:52.993Z,1628963212.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:53.396Z,1628963213.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:54.210Z,1628963214.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00F7F,186,80,80,96,FF
2021-08-14T17:46:54.210Z,1628963214.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:54.213Z,1628963214.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174654.88*5B

2021-08-14T17:46:54.661Z,1628963214.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.520004 m, bearing: 270.398747 deg, deltaT: 4.774350 s, approachRate: -0.615788 m/s, LOS rate: 0.068680 deg/s, posRepo size: 4
2021-08-14T17:46:54.663Z,1628963214.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 270.398747 deg,
      approachRate: -0.615788 m/s,
      LOS rate: 0.068680 deg/s,
      cmd update: 0.274721 deg/s,
      cmd heading: 270.595973 deg,
      new cmd heading: 270.161014 deg.

2021-08-14T17:46:55.450Z,1628963215.450 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T17:46:57.122Z,1628963217.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:46:57.437Z,1628963217.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:46:57.438Z,1628963217.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:46:57.438Z,1628963217.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:46:57.439Z,1628963217.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:46:57.833Z,1628963217.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00F7F,186,80,80,96,FF
2021-08-14T17:46:57.833Z,1628963217.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:46:57.833Z,1628963217.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:46:57.835Z,1628963217.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:46:58.260Z,1628963218.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:46:58.661Z,1628963218.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00B38,186,80,80,A6,FF
2021-08-14T17:46:58.661Z,1628963218.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:46:59.104Z,1628963219.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174659.71*50

2021-08-14T17:46:59.207Z,1628963219.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.820007 m, bearing: 271.416336 deg, deltaT: 4.440294 s, approachRate: -14.796317 m/s, LOS rate: 0.229172 deg/s, posRepo size: 4
2021-08-14T17:46:59.214Z,1628963219.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.820007 m,
      bearing: 271.416336 deg,
      approachRate: -14.796317 m/s,
      LOS rate: 0.229172 deg/s,
      cmd update: 0.916686 deg/s,
      cmd heading: 271.817145 deg,
      new cmd heading: 271.962525 deg.

2021-08-14T17:47:01.199Z,1628963221.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:01.481Z,1628963221.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:01.481Z,1628963221.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:01.481Z,1628963221.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:01.482Z,1628963221.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:01.882Z,1628963221.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00B38,186,80,80,A6,FF
2021-08-14T17:47:01.882Z,1628963221.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:01.882Z,1628963221.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:01.909Z,1628963221.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:02.307Z,1628963222.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:03.157Z,1628963223.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00F1F,186,80,80,9F,FF
2021-08-14T17:47:03.157Z,1628963223.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:03.161Z,1628963223.161 [Micromodem](INFO): Nmea in: $SNTTA,0.134171,,,,174703.79*49

2021-08-14T17:47:03.567Z,1628963223.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.760010 m, bearing: 270.110049 deg, deltaT: 4.585818 s, approachRate: 13.070733 m/s, LOS rate: -0.284854 deg/s, posRepo size: 4
2021-08-14T17:47:03.581Z,1628963223.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.760010 m,
      bearing: 270.110049 deg,
      approachRate: 13.070733 m/s,
      LOS rate: -0.284854 deg/s,
      cmd update: -1.139415 deg/s,
      cmd heading: 276.017602 deg,
      new cmd heading: 276.279596 deg.

2021-08-14T17:47:05.897Z,1628963225.897 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.258190
2021-08-14T17:47:05.989Z,1628963225.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:05.990Z,1628963225.990 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T17:47:05.990Z,1628963225.990 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T17:47:05.990Z,1628963225.990 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T17:47:05.990Z,1628963225.990 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T17:47:05.990Z,1628963225.990 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T17:47:05.990Z,1628963225.990 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T17:47:05.991Z,1628963225.991 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T17:47:06.381Z,1628963226.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:06.381Z,1628963226.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:06.381Z,1628963226.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:06.382Z,1628963226.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:06.651Z,1628963226.651 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761180000005D00000400260000000000000000151D80030C5669C08C79986834A4A67025872956B2B3CEE1BE980B203211D1330BC4B9490D00
2021-08-14T17:47:06.652Z,1628963226.652 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T17:47:06.897Z,1628963226.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00F1F,186,80,80,9F,FF
2021-08-14T17:47:06.897Z,1628963226.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:06.897Z,1628963226.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:06.899Z,1628963226.899 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T17:47:06.901Z,1628963226.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:07.307Z,1628963227.307 [Micromodem](INFO): Nmea in: $CADRQ,174708,1,10,0,64,1*7B

2021-08-14T17:47:07.307Z,1628963227.307 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,174708,1,10,0,64,1*7B

2021-08-14T17:47:07.708Z,1628963227.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:08.149Z,1628963228.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00EE7,186,80,80,AC,FF
2021-08-14T17:47:08.149Z,1628963228.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:08.152Z,1628963228.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174708.78*5C

2021-08-14T17:47:08.722Z,1628963228.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.399994 m, bearing: 269.296136 deg, deltaT: 5.122068 s, approachRate: -0.655988 m/s, LOS rate: -0.158903 deg/s, posRepo size: 4
2021-08-14T17:47:08.724Z,1628963228.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.399994 m,
      bearing: 269.296136 deg,
      approachRate: -0.655988 m/s,
      LOS rate: -0.158903 deg/s,
      cmd update: -0.635613 deg/s,
      cmd heading: 270.176897 deg,
      new cmd heading: 269.794364 deg.

2021-08-14T17:47:09.140Z,1628963229.140 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T17:47:11.399Z,1628963231.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:11.568Z,1628963231.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:11.569Z,1628963231.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:11.570Z,1628963231.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:11.571Z,1628963231.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:11.957Z,1628963231.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00EE7,186,80,80,AC,FF
2021-08-14T17:47:11.957Z,1628963231.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:11.957Z,1628963231.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:11.959Z,1628963231.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:12.374Z,1628963232.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:12.810Z,1628963232.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00EAC,186,80,80,AC,FF
2021-08-14T17:47:12.810Z,1628963232.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:13.221Z,1628963233.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174713.84*55

2021-08-14T17:47:13.288Z,1628963233.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.860001 m, bearing: 271.156406 deg, deltaT: 4.464677 s, approachRate: -0.792889 m/s, LOS rate: 0.416664 deg/s, posRepo size: 4
2021-08-14T17:47:13.290Z,1628963233.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.860001 m,
      bearing: 271.156406 deg,
      approachRate: -0.792889 m/s,
      LOS rate: 0.416664 deg/s,
      cmd update: 1.666656 deg/s,
      cmd heading: 267.351893 deg,
      new cmd heading: 267.064024 deg.

2021-08-14T17:47:15.691Z,1628963235.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:16.085Z,1628963236.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:16.085Z,1628963236.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:16.085Z,1628963236.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:16.086Z,1628963236.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:16.453Z,1628963236.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00EAC,186,80,80,AC,FF
2021-08-14T17:47:16.453Z,1628963236.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:16.453Z,1628963236.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:16.455Z,1628963236.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:16.852Z,1628963236.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:17.681Z,1628963237.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00E76,186,80,80,9C,FF
2021-08-14T17:47:17.681Z,1628963237.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:17.684Z,1628963237.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174718.34*55

2021-08-14T17:47:18.112Z,1628963238.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.620010 m, bearing: 270.151767 deg, deltaT: 4.858323 s, approachRate: -0.666895 m/s, LOS rate: -0.206787 deg/s, posRepo size: 4
2021-08-14T17:47:18.114Z,1628963238.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 270.151767 deg,
      approachRate: -0.666895 m/s,
      LOS rate: -0.206787 deg/s,
      cmd update: -0.827149 deg/s,
      cmd heading: 275.482646 deg,
      new cmd heading: 276.152860 deg.

2021-08-14T17:47:20.218Z,1628963240.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:20.592Z,1628963240.592 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:20.593Z,1628963240.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:20.593Z,1628963240.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:20.594Z,1628963240.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:21.113Z,1628963241.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00E76,186,80,80,9C,FF
2021-08-14T17:47:21.113Z,1628963241.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:21.113Z,1628963241.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:21.116Z,1628963241.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:21.145Z,1628963241.145 [Radio_Surface](INFO): Powering down
2021-08-14T17:47:21.624Z,1628963241.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:21.990Z,1628963241.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,00E42,186,80,80,88,FF
2021-08-14T17:47:21.991Z,1628963241.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:22.409Z,1628963242.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174722.99*5B

2021-08-14T17:47:22.437Z,1628963242.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.500000 m, bearing: 269.234227 deg, deltaT: 4.354356 s, approachRate: -0.716526 m/s, LOS rate: -0.210718 deg/s, posRepo size: 4
2021-08-14T17:47:22.439Z,1628963242.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 269.234227 deg,
      approachRate: -0.716526 m/s,
      LOS rate: -0.210718 deg/s,
      cmd update: -0.842871 deg/s,
      cmd heading: 271.884414 deg,
      new cmd heading: 271.572795 deg.

2021-08-14T17:47:25.078Z,1628963245.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:25.305Z,1628963245.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:25.305Z,1628963245.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:25.305Z,1628963245.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:25.306Z,1628963245.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:25.705Z,1628963245.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,00E42,186,80,80,88,FF
2021-08-14T17:47:25.705Z,1628963245.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:25.705Z,1628963245.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:25.707Z,1628963245.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:26.118Z,1628963246.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:26.527Z,1628963246.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00E42,186,80,80,88,FF
2021-08-14T17:47:26.528Z,1628963246.528 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:26.957Z,1628963246.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174727.59*52

2021-08-14T17:47:27.272Z,1628963247.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.500000 m, bearing: 270.758507 deg, deltaT: 4.554178 s, approachRate: 0.000000 m/s, LOS rate: 0.334699 deg/s, posRepo size: 4
2021-08-14T17:47:27.274Z,1628963247.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 270.758507 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.334699 deg/s,
      cmd update: 1.338797 deg/s,
      cmd heading: 268.045704 deg,
      new cmd heading: 267.491294 deg.

2021-08-14T17:47:29.134Z,1628963249.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:29.454Z,1628963249.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:29.454Z,1628963249.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:29.454Z,1628963249.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:29.455Z,1628963249.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:29.865Z,1628963249.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00E42,186,80,80,88,FF
2021-08-14T17:47:29.865Z,1628963249.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:29.865Z,1628963249.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:29.867Z,1628963249.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:30.256Z,1628963250.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:30.682Z,1628963250.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,00E42,186,80,80,88,FF
2021-08-14T17:47:30.682Z,1628963250.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:31.125Z,1628963251.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174731.75*5B

2021-08-14T17:47:31.342Z,1628963251.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.500000 m, bearing: 270.528384 deg, deltaT: 4.150001 s, approachRate: 0.000000 m/s, LOS rate: -0.055451 deg/s, posRepo size: 4
2021-08-14T17:47:31.344Z,1628963251.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 270.528384 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.055451 deg/s,
      cmd update: -0.221805 deg/s,
      cmd heading: 273.606759 deg,
      new cmd heading: 274.375648 deg.

2021-08-14T17:47:33.354Z,1628963253.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:33.593Z,1628963253.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:33.593Z,1628963253.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:33.593Z,1628963253.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:33.594Z,1628963253.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:33.973Z,1628963253.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,00E42,186,80,80,88,FF
2021-08-14T17:47:33.973Z,1628963253.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:33.973Z,1628963253.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:33.975Z,1628963253.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:34.393Z,1628963254.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:34.789Z,1628963254.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00D42,186,80,80,88,FF
2021-08-14T17:47:34.790Z,1628963254.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:35.222Z,1628963255.222 [Micromodem](INFO): Nmea in: $SNTTA,0.450194,0.448569,,,174735.86*5C

2021-08-14T17:47:35.257Z,1628963255.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.139999 m, bearing: 268.353707 deg, deltaT: 4.086549 s, approachRate: -3.758673 m/s, LOS rate: -0.532155 deg/s, posRepo size: 4
2021-08-14T17:47:35.259Z,1628963255.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.139999 m,
      bearing: 268.353707 deg,
      approachRate: -3.758673 m/s,
      LOS rate: -0.532155 deg/s,
      cmd update: -2.128620 deg/s,
      cmd heading: 272.702509 deg,
      new cmd heading: 272.611083 deg.

2021-08-14T17:47:36.829Z,1628963256.829 [Micromodem](INFO): Nmea in: $CAERR,174738,DATA_TIMEOUT,1*40

2021-08-14T17:47:37.465Z,1628963257.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:37.645Z,1628963257.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:37.645Z,1628963257.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:37.645Z,1628963257.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:37.646Z,1628963257.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:38.022Z,1628963258.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00D42,186,80,80,88,FF
2021-08-14T17:47:38.022Z,1628963258.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:38.022Z,1628963258.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:38.025Z,1628963258.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:38.425Z,1628963258.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:38.834Z,1628963258.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00D42,186,80,80,88,FF
2021-08-14T17:47:38.834Z,1628963258.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:39.265Z,1628963259.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174739.91*59

2021-08-14T17:47:39.500Z,1628963259.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.139999 m, bearing: 269.571966 deg, deltaT: 4.046664 s, approachRate: 0.000000 m/s, LOS rate: 0.301053 deg/s, posRepo size: 4
2021-08-14T17:47:39.502Z,1628963259.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.139999 m,
      bearing: 269.571966 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.301053 deg/s,
      cmd update: 1.204212 deg/s,
      cmd heading: 264.067857 deg,
      new cmd heading: 262.792663 deg.

2021-08-14T17:47:41.807Z,1628963261.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:42.040Z,1628963262.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T17:47:42.157Z,1628963262.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:42.157Z,1628963262.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:42.157Z,1628963262.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:42.158Z,1628963262.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:42.591Z,1628963262.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00D42,186,80,80,88,FF
2021-08-14T17:47:42.591Z,1628963262.591 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:42.591Z,1628963262.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:42.597Z,1628963262.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:43.040Z,1628963263.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:43.046Z,1628963263.046 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T17:47:43.437Z,1628963263.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00D4B,185,80,80,A0,FF
2021-08-14T17:47:43.437Z,1628963263.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:43.441Z,1628963263.441 [Micromodem](INFO): Nmea in: $SNTTA,0.113668,0.179155,,,174744.48*52

2021-08-14T17:47:43.944Z,1628963263.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.680008 m, bearing: 270.252800 deg, deltaT: 4.835174 s, approachRate: 0.111683 m/s, LOS rate: 0.140808 deg/s, posRepo size: 4
2021-08-14T17:47:43.946Z,1628963263.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 270.252800 deg,
      approachRate: 0.111683 m/s,
      LOS rate: 0.140808 deg/s,
      cmd update: 0.563234 deg/s,
      cmd heading: 269.890722 deg,
      new cmd heading: 270.140230 deg.

2021-08-14T17:47:46.416Z,1628963266.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:46.793Z,1628963266.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:46.793Z,1628963266.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:46.794Z,1628963266.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:46.795Z,1628963266.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:47.213Z,1628963267.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00D4B,185,80,80,A0,FF
2021-08-14T17:47:47.213Z,1628963267.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:47.213Z,1628963267.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:47.215Z,1628963267.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:47.648Z,1628963267.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:48.054Z,1628963268.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00D17,186,80,80,C1,FF
2021-08-14T17:47:48.055Z,1628963268.055 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:48.481Z,1628963268.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174749.09*5F

2021-08-14T17:47:48.504Z,1628963268.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.559998 m, bearing: 269.183629 deg, deltaT: 4.339747 s, approachRate: -0.718938 m/s, LOS rate: -0.246367 deg/s, posRepo size: 4
2021-08-14T17:47:48.506Z,1628963268.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 269.183629 deg,
      approachRate: -0.718938 m/s,
      LOS rate: -0.246367 deg/s,
      cmd update: -0.985468 deg/s,
      cmd heading: 272.333100 deg,
      new cmd heading: 272.575826 deg.

2021-08-14T17:47:50.965Z,1628963270.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:51.281Z,1628963271.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:51.281Z,1628963271.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:51.281Z,1628963271.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:51.282Z,1628963271.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:51.689Z,1628963271.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00D17,186,80,80,C1,FF
2021-08-14T17:47:51.689Z,1628963271.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:51.689Z,1628963271.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:51.691Z,1628963271.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:52.345Z,1628963272.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:52.741Z,1628963272.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,00CE3,186,80,80,A7,FF
2021-08-14T17:47:52.742Z,1628963272.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:53.173Z,1628963273.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174753.57*5F

2021-08-14T17:47:53.265Z,1628963273.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.440002 m, bearing: 268.505309 deg, deltaT: 4.717125 s, approachRate: -0.661419 m/s, LOS rate: -0.143799 deg/s, posRepo size: 4
2021-08-14T17:47:53.267Z,1628963273.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.440002 m,
      bearing: 268.505309 deg,
      approachRate: -0.661419 m/s,
      LOS rate: -0.143799 deg/s,
      cmd update: -0.575198 deg/s,
      cmd heading: 267.705232 deg,
      new cmd heading: 267.215799 deg.

2021-08-14T17:47:55.635Z,1628963275.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:47:55.973Z,1628963275.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:47:55.974Z,1628963275.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:47:55.974Z,1628963275.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:47:55.975Z,1628963275.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:47:56.401Z,1628963276.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,00CE3,186,80,80,A7,FF
2021-08-14T17:47:56.401Z,1628963276.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:47:56.402Z,1628963276.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:47:56.403Z,1628963276.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:47:56.821Z,1628963276.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:47:57.226Z,1628963277.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00CAC,186,80,80,B3,FF
2021-08-14T17:47:57.226Z,1628963277.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:47:57.669Z,1628963277.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174758.28*5C

2021-08-14T17:47:57.744Z,1628963277.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.139999 m, bearing: 269.709636 deg, deltaT: 4.531077 s, approachRate: -0.728304 m/s, LOS rate: 0.265792 deg/s, posRepo size: 4
2021-08-14T17:47:57.747Z,1628963277.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 269.709636 deg,
      approachRate: -0.728304 m/s,
      LOS rate: 0.265792 deg/s,
      cmd update: 1.063170 deg/s,
      cmd heading: 265.087253 deg,
      new cmd heading: 264.844092 deg.

2021-08-14T17:48:00.090Z,1628963280.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:00.477Z,1628963280.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:00.477Z,1628963280.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:00.477Z,1628963280.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:00.478Z,1628963280.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:00.877Z,1628963280.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00CAC,186,80,80,B3,FF
2021-08-14T17:48:00.877Z,1628963280.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:00.877Z,1628963280.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:00.879Z,1628963280.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:01.401Z,1628963281.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:01.802Z,1628963281.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00C78,185,80,80,C6,FF
2021-08-14T17:48:01.802Z,1628963281.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:02.209Z,1628963282.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174802.76*57

2021-08-14T17:48:02.416Z,1628963282.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.020004 m, bearing: 268.449275 deg, deltaT: 4.565408 s, approachRate: -0.683399 m/s, LOS rate: -0.276068 deg/s, posRepo size: 4
2021-08-14T17:48:02.418Z,1628963282.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.020004 m,
      bearing: 268.449275 deg,
      approachRate: -0.683399 m/s,
      LOS rate: -0.276068 deg/s,
      cmd update: -1.104270 deg/s,
      cmd heading: 269.941056 deg,
      new cmd heading: 270.504699 deg.

2021-08-14T17:48:04.454Z,1628963284.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:04.649Z,1628963284.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:04.649Z,1628963284.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:04.649Z,1628963284.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:04.650Z,1628963284.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:05.077Z,1628963285.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00C78,185,80,80,C6,FF
2021-08-14T17:48:05.077Z,1628963285.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:05.078Z,1628963285.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:05.099Z,1628963285.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:05.555Z,1628963285.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:05.957Z,1628963285.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00C48,186,80,80,AA,FF
2021-08-14T17:48:05.958Z,1628963285.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:06.357Z,1628963286.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174806.98*53

2021-08-14T17:48:06.391Z,1628963286.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 267.179296 deg, deltaT: 4.179434 s, approachRate: -0.689086 m/s, LOS rate: -0.303864 deg/s, posRepo size: 4
2021-08-14T17:48:06.395Z,1628963286.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.140015 m,
      bearing: 267.179296 deg,
      approachRate: -0.689086 m/s,
      LOS rate: -0.303864 deg/s,
      cmd update: -1.215455 deg/s,
      cmd heading: 265.396589 deg,
      new cmd heading: 264.965483 deg.

2021-08-14T17:48:08.639Z,1628963288.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:08.861Z,1628963288.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:08.861Z,1628963288.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:08.861Z,1628963288.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:08.862Z,1628963288.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:09.262Z,1628963289.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00C48,186,80,80,AA,FF
2021-08-14T17:48:09.262Z,1628963289.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:09.262Z,1628963289.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:09.264Z,1628963289.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:09.690Z,1628963289.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:10.081Z,1628963290.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00C13,184,80,80,AB,FF
2021-08-14T17:48:10.081Z,1628963290.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:10.514Z,1628963290.514 [Micromodem](INFO): Nmea in: $SNTTA,0.100794,,,,174811.14*44

2021-08-14T17:48:10.796Z,1628963290.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.960007 m, bearing: 268.300021 deg, deltaT: 4.114517 s, approachRate: -0.772875 m/s, LOS rate: 0.272383 deg/s, posRepo size: 4
2021-08-14T17:48:10.798Z,1628963290.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.960007 m,
      bearing: 268.300021 deg,
      approachRate: -0.772875 m/s,
      LOS rate: 0.272383 deg/s,
      cmd update: 1.089532 deg/s,
      cmd heading: 260.312779 deg,
      new cmd heading: 259.568455 deg.

2021-08-14T17:48:11.769Z,1628963291.769 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T17:48:12.349Z,1628963292.349 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761180000005D00000400260000000000000000151D80030C5669C08C79986834A4A67025872956B2B3CEE1BE980B203211D1330BC4B9490D00
2021-08-14T17:48:12.350Z,1628963292.350 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T17:48:12.682Z,1628963292.682 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T17:48:12.710Z,1628963292.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:13.068Z,1628963293.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:13.069Z,1628963293.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:13.070Z,1628963293.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:13.071Z,1628963293.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:13.079Z,1628963293.079 [Micromodem](INFO): Nmea in: $CADRQ,174814,1,10,0,64,1*79

2021-08-14T17:48:13.082Z,1628963293.082 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761180000005D00000400260000000000000000151D80030C5669C08C79986834A4A67025872956B2B3CEE1BE980B203211D1330BC4B9490D00*4C

2021-08-14T17:48:13.563Z,1628963293.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00C13,184,80,80,AB,FF
2021-08-14T17:48:13.563Z,1628963293.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:13.564Z,1628963293.564 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:13.570Z,1628963293.570 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T17:48:13.577Z,1628963293.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:13.970Z,1628963293.970 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T17:48:13.971Z,1628963293.971 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T17:48:15.193Z,1628963295.193 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T17:48:15.193Z,1628963295.193 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T17:48:15.269Z,1628963295.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:15.609Z,1628963295.609 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,174814.981394,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-14T17:48:15.610Z,1628963295.610 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,174814.981394,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-14T17:48:17.233Z,1628963297.233 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T17:48:17.234Z,1628963297.234 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T171856/Courier0024.lzma.parts
2021-08-14T17:48:17.234Z,1628963297.234 [Micromodem](INFO): Packets left to send: 0
2021-08-14T17:48:17.642Z,1628963297.642 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814174817.993001,06,32767,45,0145,0150,37,03,03,00,03,1,010,001,0,4,1,0,150,6.9,9.40,20,-6.40,-01,-0.71,49,14500,4000*7E

2021-08-14T17:48:17.642Z,1628963297.642 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814174817.993001,06,32767,45,0145,0150,37,03,03,00,03,1,010,001,0,4,1,0,150,6.9,9.40,20,-6.40,-01,-0.71,49,14500,4000*7E

2021-08-14T17:48:17.886Z,1628963297.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:17.886Z,1628963297.886 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T17:48:17.886Z,1628963297.886 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T17:48:17.886Z,1628963297.886 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T17:48:17.886Z,1628963297.886 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T17:48:17.886Z,1628963297.886 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T17:48:19.292Z,1628963299.292 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.220797
2021-08-14T17:48:20.543Z,1628963300.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:20.883Z,1628963300.883 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:20.883Z,1628963300.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:20.883Z,1628963300.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:20.884Z,1628963300.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:21.294Z,1628963301.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00C13,184,80,80,AB,FF
2021-08-14T17:48:21.294Z,1628963301.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:21.294Z,1628963301.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:23.212Z,1628963303.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:24.765Z,1628963304.765 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:25.197Z,1628963305.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:25.593Z,1628963305.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00B5F,186,80,80,B6,FF
2021-08-14T17:48:25.594Z,1628963305.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:26.010Z,1628963306.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174826.65*53

2021-08-14T17:48:26.028Z,1628963306.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.160004 m, bearing: 267.400130 deg, deltaT: 15.438446 s, approachRate: -0.699552 m/s, LOS rate: -0.058289 deg/s, posRepo size: 4
2021-08-14T17:48:26.030Z,1628963306.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.160004 m,
      bearing: 267.400130 deg,
      approachRate: -0.699552 m/s,
      LOS rate: -0.058289 deg/s,
      cmd update: -0.233156 deg/s,
      cmd heading: 277.133222 deg,
      new cmd heading: 277.575923 deg.

2021-08-14T17:48:28.421Z,1628963308.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:28.797Z,1628963308.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:28.797Z,1628963308.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:28.797Z,1628963308.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:28.798Z,1628963308.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:29.205Z,1628963309.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00B5F,186,80,80,B6,FF
2021-08-14T17:48:29.205Z,1628963309.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:29.206Z,1628963309.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:29.207Z,1628963309.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:29.633Z,1628963309.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:30.021Z,1628963310.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,00B2B,185,80,80,AE,FF
2021-08-14T17:48:30.022Z,1628963310.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:30.457Z,1628963310.457 [Micromodem](INFO): Nmea in: $SNTTA,0.091994,,,,174831.09*4D

2021-08-14T17:48:30.473Z,1628963310.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.039993 m, bearing: 267.554219 deg, deltaT: 4.444417 s, approachRate: -0.702007 m/s, LOS rate: 0.034670 deg/s, posRepo size: 4
2021-08-14T17:48:30.475Z,1628963310.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.039993 m,
      bearing: 267.554219 deg,
      approachRate: -0.702007 m/s,
      LOS rate: 0.034670 deg/s,
      cmd update: 0.138681 deg/s,
      cmd heading: 276.097870 deg,
      new cmd heading: 276.002215 deg.

2021-08-14T17:48:32.905Z,1628963312.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:33.257Z,1628963313.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:33.257Z,1628963313.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:33.257Z,1628963313.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:33.258Z,1628963313.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:33.665Z,1628963313.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,00B2B,185,80,80,AE,FF
2021-08-14T17:48:33.665Z,1628963313.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:33.665Z,1628963313.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:33.667Z,1628963313.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:34.068Z,1628963314.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:34.477Z,1628963314.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,00AF7,186,80,80,A8,FF
2021-08-14T17:48:34.478Z,1628963314.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:34.913Z,1628963314.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174835.55*52

2021-08-14T17:48:34.953Z,1628963314.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.919998 m, bearing: 267.323113 deg, deltaT: 4.519300 s, approachRate: -0.690371 m/s, LOS rate: -0.051138 deg/s, posRepo size: 4
2021-08-14T17:48:34.955Z,1628963314.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.919998 m,
      bearing: 267.323113 deg,
      approachRate: -0.690371 m/s,
      LOS rate: -0.051138 deg/s,
      cmd update: -0.204551 deg/s,
      cmd heading: 276.720245 deg,
      new cmd heading: 276.776147 deg.

2021-08-14T17:48:37.361Z,1628963317.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:37.701Z,1628963317.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:37.702Z,1628963317.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:37.703Z,1628963317.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:37.705Z,1628963317.705 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:38.107Z,1628963318.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,00AF7,186,80,80,A8,FF
2021-08-14T17:48:38.107Z,1628963318.107 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:38.107Z,1628963318.107 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:38.109Z,1628963318.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:38.525Z,1628963318.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:38.926Z,1628963318.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,00AC4,186,80,80,85,FF
2021-08-14T17:48:38.926Z,1628963318.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:39.361Z,1628963319.361 [Micromodem](INFO): Nmea in: $SNTTA,0.114514,,,,174839.99*44

2021-08-14T17:48:39.425Z,1628963319.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 267.425293 deg, deltaT: 4.367788 s, approachRate: -0.700583 m/s, LOS rate: 0.023394 deg/s, posRepo size: 4
2021-08-14T17:48:39.427Z,1628963319.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.860001 m,
      bearing: 267.425293 deg,
      approachRate: -0.700583 m/s,
      LOS rate: 0.023394 deg/s,
      cmd update: 0.093576 deg/s,
      cmd heading: 275.819592 deg,
      new cmd heading: 275.724027 deg.

2021-08-14T17:48:41.802Z,1628963321.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:42.149Z,1628963322.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:42.149Z,1628963322.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:42.149Z,1628963322.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:42.150Z,1628963322.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:42.575Z,1628963322.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,00AC4,186,80,80,85,FF
2021-08-14T17:48:42.575Z,1628963322.575 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:42.576Z,1628963322.576 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:42.586Z,1628963322.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:42.962Z,1628963322.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:43.371Z,1628963323.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00A8D,185,80,80,A4,FF
2021-08-14T17:48:43.371Z,1628963323.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:43.797Z,1628963323.797 [Micromodem](INFO): Nmea in: $SNTTA,0.095386,,,,174844.47*48

2021-08-14T17:48:43.823Z,1628963323.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.559998 m, bearing: 267.055370 deg, deltaT: 4.471839 s, approachRate: -0.737952 m/s, LOS rate: -0.082723 deg/s, posRepo size: 4
2021-08-14T17:48:43.825Z,1628963323.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.559998 m,
      bearing: 267.055370 deg,
      approachRate: -0.737952 m/s,
      LOS rate: -0.082723 deg/s,
      cmd update: -0.330891 deg/s,
      cmd heading: 276.236510 deg,
      new cmd heading: 276.275278 deg.

2021-08-14T17:48:46.211Z,1628963326.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:46.621Z,1628963326.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:46.621Z,1628963326.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:46.621Z,1628963326.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:46.622Z,1628963326.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:46.997Z,1628963326.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00A8D,185,80,80,A4,FF
2021-08-14T17:48:46.997Z,1628963326.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:46.997Z,1628963326.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:46.999Z,1628963326.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:47.413Z,1628963327.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:47.812Z,1628963327.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,118,000,00A58,185,80,80,B0,FF
2021-08-14T17:48:47.813Z,1628963327.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:48.249Z,1628963328.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174848.88*58

2021-08-14T17:48:48.285Z,1628963328.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.380005 m, bearing: 266.873167 deg, deltaT: 4.414555 s, approachRate: -0.720343 m/s, LOS rate: -0.041273 deg/s, posRepo size: 4
2021-08-14T17:48:48.287Z,1628963328.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.380005 m,
      bearing: 266.873167 deg,
      approachRate: -0.720343 m/s,
      LOS rate: -0.041273 deg/s,
      cmd update: -0.165092 deg/s,
      cmd heading: 274.770285 deg,
      new cmd heading: 274.623156 deg.

2021-08-14T17:48:50.666Z,1628963330.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:51.056Z,1628963331.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:51.057Z,1628963331.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:51.058Z,1628963331.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:51.059Z,1628963331.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:51.449Z,1628963331.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
118,000,00A58,185,80,80,B0,FF
2021-08-14T17:48:51.449Z,1628963331.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:51.449Z,1628963331.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:51.451Z,1628963331.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:51.953Z,1628963331.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:51.969Z,1628963331.969 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T17:48:52.338Z,1628963332.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,00A25,186,80,80,A9,FF
2021-08-14T17:48:52.338Z,1628963332.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:52.765Z,1628963332.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174853.33*52

2021-08-14T17:48:52.809Z,1628963332.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.320007 m, bearing: 266.698615 deg, deltaT: 4.543511 s, approachRate: -0.673487 m/s, LOS rate: -0.038418 deg/s, posRepo size: 4
2021-08-14T17:48:52.811Z,1628963332.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.320007 m,
      bearing: 266.698615 deg,
      approachRate: -0.673487 m/s,
      LOS rate: -0.038418 deg/s,
      cmd update: -0.153672 deg/s,
      cmd heading: 274.024046 deg,
      new cmd heading: 273.950780 deg.

2021-08-14T17:48:55.238Z,1628963335.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:48:55.581Z,1628963335.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:48:55.581Z,1628963335.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:48:55.581Z,1628963335.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:48:55.582Z,1628963335.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:48:55.973Z,1628963335.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,00A25,186,80,80,A9,FF
2021-08-14T17:48:55.973Z,1628963335.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:48:55.974Z,1628963335.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:48:55.975Z,1628963335.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:48:56.026Z,1628963336.026 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T17:48:56.393Z,1628963336.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:48:56.809Z,1628963336.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,009ED,186,80,80,A8,FF
2021-08-14T17:48:56.810Z,1628963336.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:48:57.229Z,1628963337.229 [Micromodem](INFO): Nmea in: $SNTTA,,0.448906,,,174857.86*41

2021-08-14T17:48:57.300Z,1628963337.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.960007 m, bearing: 266.816723 deg, deltaT: 4.458431 s, approachRate: -0.753628 m/s, LOS rate: 0.026491 deg/s, posRepo size: 4
2021-08-14T17:48:57.302Z,1628963337.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 266.816723 deg,
      approachRate: -0.753628 m/s,
      LOS rate: 0.026491 deg/s,
      cmd update: 0.105963 deg/s,
      cmd heading: 273.335308 deg,
      new cmd heading: 273.265584 deg.

2021-08-14T17:48:59.690Z,1628963339.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:00.017Z,1628963340.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:00.017Z,1628963340.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:00.017Z,1628963340.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:00.018Z,1628963340.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:00.429Z,1628963340.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,009ED,186,80,80,A8,FF
2021-08-14T17:49:00.429Z,1628963340.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:00.430Z,1628963340.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:00.431Z,1628963340.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:00.833Z,1628963340.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:01.233Z,1628963341.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,009B9,186,80,80,BB,FF
2021-08-14T17:49:01.233Z,1628963341.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:01.676Z,1628963341.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174902.31*55

2021-08-14T17:49:01.717Z,1628963341.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 266.687414 deg, deltaT: 4.468110 s, approachRate: -0.698282 m/s, LOS rate: -0.028940 deg/s, posRepo size: 4
2021-08-14T17:49:01.719Z,1628963341.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.840004 m,
      bearing: 266.687414 deg,
      approachRate: -0.698282 m/s,
      LOS rate: -0.028940 deg/s,
      cmd update: -0.115762 deg/s,
      cmd heading: 273.808315 deg,
      new cmd heading: 273.851869 deg.

2021-08-14T17:49:04.111Z,1628963344.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:04.465Z,1628963344.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:04.465Z,1628963344.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:04.465Z,1628963344.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:04.466Z,1628963344.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:04.881Z,1628963344.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,009B9,186,80,80,BB,FF
2021-08-14T17:49:04.881Z,1628963344.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:04.881Z,1628963344.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:04.883Z,1628963344.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:05.289Z,1628963345.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:05.688Z,1628963345.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00986,185,80,80,B3,FF
2021-08-14T17:49:05.688Z,1628963345.688 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:06.109Z,1628963346.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174906.76*52

2021-08-14T17:49:06.138Z,1628963346.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 267.125748 deg, deltaT: 4.491217 s, approachRate: -0.681329 m/s, LOS rate: 0.097598 deg/s, posRepo size: 4
2021-08-14T17:49:06.165Z,1628963346.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.780006 m,
      bearing: 267.125748 deg,
      approachRate: -0.681329 m/s,
      LOS rate: 0.097598 deg/s,
      cmd update: 0.390392 deg/s,
      cmd heading: 273.289832 deg,
      new cmd heading: 273.248886 deg.

2021-08-14T17:49:08.604Z,1628963348.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:08.923Z,1628963348.923 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:08.923Z,1628963348.923 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:08.923Z,1628963348.923 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:08.924Z,1628963348.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:09.321Z,1628963349.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00986,185,80,80,B3,FF
2021-08-14T17:49:09.321Z,1628963349.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:09.321Z,1628963349.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:09.323Z,1628963349.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:09.729Z,1628963349.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:10.125Z,1628963350.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00951,186,80,80,BA,FF
2021-08-14T17:49:10.126Z,1628963350.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:10.570Z,1628963350.570 [Micromodem](INFO): Nmea in: $SNTTA,0.073062,,,,174911.20*49

2021-08-14T17:49:10.611Z,1628963350.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.599998 m, bearing: 266.615150 deg, deltaT: 4.341139 s, approachRate: -0.732528 m/s, LOS rate: -0.117618 deg/s, posRepo size: 4
2021-08-14T17:49:10.613Z,1628963350.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.599998 m,
      bearing: 266.615150 deg,
      approachRate: -0.732528 m/s,
      LOS rate: -0.117618 deg/s,
      cmd update: -0.470473 deg/s,
      cmd heading: 274.990973 deg,
      new cmd heading: 275.173867 deg.

2021-08-14T17:49:12.987Z,1628963352.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:13.364Z,1628963353.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:13.365Z,1628963353.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:13.365Z,1628963353.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:13.366Z,1628963353.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:13.749Z,1628963353.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00951,186,80,80,BA,FF
2021-08-14T17:49:13.749Z,1628963353.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:13.750Z,1628963353.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:13.751Z,1628963353.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:14.177Z,1628963354.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:14.562Z,1628963354.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,0091B,186,80,80,96,FF
2021-08-14T17:49:14.562Z,1628963354.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:15.013Z,1628963355.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174915.63*54

2021-08-14T17:49:15.116Z,1628963355.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 266.608621 deg, deltaT: 4.472597 s, approachRate: -0.724411 m/s, LOS rate: -0.001460 deg/s, posRepo size: 4
2021-08-14T17:49:15.119Z,1628963355.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.360001 m,
      bearing: 266.608621 deg,
      approachRate: -0.724411 m/s,
      LOS rate: -0.001460 deg/s,
      cmd update: -0.005840 deg/s,
      cmd heading: 272.888640 deg,
      new cmd heading: 272.652967 deg.

2021-08-14T17:49:17.491Z,1628963357.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:17.793Z,1628963357.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:17.793Z,1628963357.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:17.793Z,1628963357.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:17.794Z,1628963357.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:18.194Z,1628963358.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,0091B,186,80,80,96,FF
2021-08-14T17:49:18.194Z,1628963358.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:18.195Z,1628963358.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:18.202Z,1628963358.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:18.620Z,1628963358.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:19.007Z,1628963359.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,008E9,186,80,80,AB,FF
2021-08-14T17:49:19.007Z,1628963359.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:19.434Z,1628963359.434 [Micromodem](INFO): Nmea in: $SNTTA,0.376789,0.376764,,,174920.08*5C

2021-08-14T17:49:19.471Z,1628963359.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.360008 m, bearing: 266.912728 deg, deltaT: 4.469862 s, approachRate: -0.671160 m/s, LOS rate: 0.068035 deg/s, posRepo size: 4
2021-08-14T17:49:19.473Z,1628963359.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 266.912728 deg,
      approachRate: -0.671160 m/s,
      LOS rate: 0.068035 deg/s,
      cmd update: 0.272140 deg/s,
      cmd heading: 272.862793 deg,
      new cmd heading: 272.860258 deg.

2021-08-14T17:49:21.893Z,1628963361.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:22.246Z,1628963362.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:22.246Z,1628963362.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:22.246Z,1628963362.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:22.246Z,1628963362.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:22.661Z,1628963362.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,008E9,186,80,80,AB,FF
2021-08-14T17:49:22.661Z,1628963362.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:22.661Z,1628963362.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:22.663Z,1628963362.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:23.068Z,1628963363.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:23.449Z,1628963363.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,008B1,186,80,80,BC,FF
2021-08-14T17:49:23.450Z,1628963363.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:23.894Z,1628963363.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174924.55*53

2021-08-14T17:49:23.941Z,1628963363.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.000008 m, bearing: 266.506605 deg, deltaT: 4.426608 s, approachRate: -0.759046 m/s, LOS rate: -0.091746 deg/s, posRepo size: 4
2021-08-14T17:49:23.943Z,1628963363.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.000008 m,
      bearing: 266.506605 deg,
      approachRate: -0.759046 m/s,
      LOS rate: -0.091746 deg/s,
      cmd update: -0.366984 deg/s,
      cmd heading: 274.073961 deg,
      new cmd heading: 274.197193 deg.

2021-08-14T17:49:26.349Z,1628963366.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:26.681Z,1628963366.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:26.681Z,1628963366.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:26.681Z,1628963366.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:26.682Z,1628963366.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:27.121Z,1628963367.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,008B1,186,80,80,BC,FF
2021-08-14T17:49:27.121Z,1628963367.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:27.122Z,1628963367.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:27.125Z,1628963367.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:27.493Z,1628963367.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:27.901Z,1628963367.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,0087D,186,80,80,87,FF
2021-08-14T17:49:27.902Z,1628963367.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:28.328Z,1628963368.328 [Micromodem](INFO): Nmea in: $SNTTA,0.070472,,,,174929.00*46

2021-08-14T17:49:28.355Z,1628963368.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.880005 m, bearing: 265.960135 deg, deltaT: 4.479145 s, approachRate: -0.696562 m/s, LOS rate: -0.122003 deg/s, posRepo size: 4
2021-08-14T17:49:28.358Z,1628963368.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.880005 m,
      bearing: 265.960135 deg,
      approachRate: -0.696562 m/s,
      LOS rate: -0.122003 deg/s,
      cmd update: -0.488013 deg/s,
      cmd heading: 272.422847 deg,
      new cmd heading: 272.287537 deg.

2021-08-14T17:49:30.771Z,1628963370.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:31.149Z,1628963371.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:31.149Z,1628963371.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:31.149Z,1628963371.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:31.150Z,1628963371.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:31.537Z,1628963371.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,0087D,186,80,80,87,FF
2021-08-14T17:49:31.538Z,1628963371.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:31.538Z,1628963371.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:31.539Z,1628963371.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:31.940Z,1628963371.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:32.337Z,1628963372.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,0084B,186,80,80,AF,FF
2021-08-14T17:49:32.338Z,1628963372.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:32.790Z,1628963372.790 [Micromodem](INFO): Nmea in: $SNTTA,0.089433,,,,174933.42*48

2021-08-14T17:49:32.868Z,1628963372.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 266.969391 deg, deltaT: 4.459323 s, approachRate: -0.672750 m/s, LOS rate: 0.226325 deg/s, posRepo size: 4
2021-08-14T17:49:32.870Z,1628963372.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.879997 m,
      bearing: 266.969391 deg,
      approachRate: -0.672750 m/s,
      LOS rate: 0.226325 deg/s,
      cmd update: 0.905300 deg/s,
      cmd heading: 270.244671 deg,
      new cmd heading: 270.042551 deg.

2021-08-14T17:49:35.303Z,1628963375.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:35.591Z,1628963375.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:35.591Z,1628963375.591 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:35.591Z,1628963375.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:35.610Z,1628963375.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:35.981Z,1628963375.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,0084B,186,80,80,AF,FF
2021-08-14T17:49:35.981Z,1628963375.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:35.981Z,1628963375.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:35.983Z,1628963375.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:36.381Z,1628963376.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:36.781Z,1628963376.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00817,186,80,80,C1,FF
2021-08-14T17:49:36.781Z,1628963376.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:37.231Z,1628963377.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174937.87*5E

2021-08-14T17:49:37.271Z,1628963377.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.760010 m, bearing: 266.194055 deg, deltaT: 4.419785 s, approachRate: -0.705914 m/s, LOS rate: -0.175424 deg/s, posRepo size: 4
2021-08-14T17:49:37.273Z,1628963377.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.760010 m,
      bearing: 266.194055 deg,
      approachRate: -0.705914 m/s,
      LOS rate: -0.175424 deg/s,
      cmd update: -0.701695 deg/s,
      cmd heading: 274.229860 deg,
      new cmd heading: 274.608844 deg.

2021-08-14T17:49:39.643Z,1628963379.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:40.013Z,1628963380.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:40.013Z,1628963380.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:40.013Z,1628963380.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:40.014Z,1628963380.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:40.417Z,1628963380.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00817,186,80,80,C1,FF
2021-08-14T17:49:40.417Z,1628963380.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:40.417Z,1628963380.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:40.419Z,1628963380.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:40.824Z,1628963380.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:41.232Z,1628963381.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,007E6,186,80,80,82,FF
2021-08-14T17:49:41.232Z,1628963381.232 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:41.661Z,1628963381.661 [Micromodem](INFO): Nmea in: $SNTTA,0.267942,,,,174942.30*42

2021-08-14T17:49:41.695Z,1628963381.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.820007 m, bearing: 265.496994 deg, deltaT: 4.430199 s, approachRate: -0.663628 m/s, LOS rate: -0.157343 deg/s, posRepo size: 4
2021-08-14T17:49:41.698Z,1628963381.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.820007 m,
      bearing: 265.496994 deg,
      approachRate: -0.663628 m/s,
      LOS rate: -0.157343 deg/s,
      cmd update: -0.629373 deg/s,
      cmd heading: 271.108792 deg,
      new cmd heading: 270.831304 deg.

2021-08-14T17:49:44.082Z,1628963384.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:44.465Z,1628963384.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:44.465Z,1628963384.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:44.465Z,1628963384.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:44.466Z,1628963384.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:44.876Z,1628963384.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,007E6,186,80,80,82,FF
2021-08-14T17:49:44.877Z,1628963384.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:44.877Z,1628963384.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:44.878Z,1628963384.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:45.304Z,1628963385.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:45.677Z,1628963385.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,007B1,186,80,80,A0,FF
2021-08-14T17:49:45.678Z,1628963385.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:46.121Z,1628963386.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174946.76*56

2021-08-14T17:49:46.136Z,1628963386.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 266.950212 deg, deltaT: 4.463268 s, approachRate: -0.712484 m/s, LOS rate: 0.325595 deg/s, posRepo size: 4
2021-08-14T17:49:46.138Z,1628963386.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.639999 m,
      bearing: 266.950212 deg,
      approachRate: -0.712484 m/s,
      LOS rate: 0.325595 deg/s,
      cmd update: 1.302381 deg/s,
      cmd heading: 268.299723 deg,
      new cmd heading: 268.065024 deg.

2021-08-14T17:49:48.523Z,1628963388.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:48.907Z,1628963388.907 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:48.907Z,1628963388.907 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:48.907Z,1628963388.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:48.908Z,1628963388.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:49.309Z,1628963389.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,007B1,186,80,80,A0,FF
2021-08-14T17:49:49.309Z,1628963389.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:49.309Z,1628963389.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:49.311Z,1628963389.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:49.713Z,1628963389.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:50.109Z,1628963390.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,0077D,186,80,80,A7,FF
2021-08-14T17:49:50.110Z,1628963390.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:50.575Z,1628963390.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174951.19*59

2021-08-14T17:49:50.630Z,1628963390.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.519997 m, bearing: 267.027939 deg, deltaT: 4.368399 s, approachRate: -0.714221 m/s, LOS rate: 0.017793 deg/s, posRepo size: 4
2021-08-14T17:49:50.632Z,1628963390.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.519997 m,
      bearing: 267.027939 deg,
      approachRate: -0.714221 m/s,
      LOS rate: 0.017793 deg/s,
      cmd update: 0.071173 deg/s,
      cmd heading: 273.989014 deg,
      new cmd heading: 274.638346 deg.

2021-08-14T17:49:52.979Z,1628963392.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:53.345Z,1628963393.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:53.345Z,1628963393.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:53.345Z,1628963393.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:53.346Z,1628963393.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:53.749Z,1628963393.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,0077D,186,80,80,A7,FF
2021-08-14T17:49:53.749Z,1628963393.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:53.749Z,1628963393.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:53.751Z,1628963393.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:54.161Z,1628963394.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:54.573Z,1628963394.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00745,186,80,80,81,FF
2021-08-14T17:49:54.575Z,1628963394.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:54.993Z,1628963394.993 [Micromodem](INFO): Nmea in: $SNTTA,0.056632,,,,174955.63*4A

2021-08-14T17:49:55.029Z,1628963395.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.160004 m, bearing: 265.858502 deg, deltaT: 4.493751 s, approachRate: -0.747703 m/s, LOS rate: -0.260236 deg/s, posRepo size: 4
2021-08-14T17:49:55.031Z,1628963395.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.160004 m,
      bearing: 265.858502 deg,
      approachRate: -0.747703 m/s,
      LOS rate: -0.260236 deg/s,
      cmd update: -1.040946 deg/s,
      cmd heading: 274.308826 deg,
      new cmd heading: 274.337381 deg.

2021-08-14T17:49:57.429Z,1628963397.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:49:57.789Z,1628963397.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:49:57.789Z,1628963397.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:49:57.789Z,1628963397.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:49:57.790Z,1628963397.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:49:58.193Z,1628963398.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00745,186,80,80,81,FF
2021-08-14T17:49:58.193Z,1628963398.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:49:58.193Z,1628963398.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:49:58.195Z,1628963398.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:49:58.625Z,1628963398.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:49:59.006Z,1628963399.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,00712,186,80,80,D3,FF
2021-08-14T17:49:59.006Z,1628963399.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:49:59.417Z,1628963399.417 [Micromodem](INFO): Nmea in: $SNTTA,0.338566,0.337947,,,175000.08*55

2021-08-14T17:49:59.463Z,1628963399.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.100006 m, bearing: 265.779599 deg, deltaT: 4.406317 s, approachRate: -0.694457 m/s, LOS rate: -0.017907 deg/s, posRepo size: 4
2021-08-14T17:49:59.466Z,1628963399.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.100006 m,
      bearing: 265.779599 deg,
      approachRate: -0.694457 m/s,
      LOS rate: -0.017907 deg/s,
      cmd update: -0.071627 deg/s,
      cmd heading: 269.721818 deg,
      new cmd heading: 269.272331 deg.

2021-08-14T17:50:01.867Z,1628963401.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:02.237Z,1628963402.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:02.237Z,1628963402.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:02.237Z,1628963402.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:02.238Z,1628963402.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:02.638Z,1628963402.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,00712,186,80,80,D3,FF
2021-08-14T17:50:02.638Z,1628963402.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:02.638Z,1628963402.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:02.640Z,1628963402.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:03.173Z,1628963403.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:03.445Z,1628963403.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,006E0,186,80,80,9D,FF
2021-08-14T17:50:03.445Z,1628963403.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:03.889Z,1628963403.889 [Micromodem](INFO): Nmea in: $SNTTA,0.061740,,,,175004.52*44

2021-08-14T17:50:03.915Z,1628963403.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 267.179679 deg, deltaT: 4.450841 s, approachRate: -0.674032 m/s, LOS rate: 0.314565 deg/s, posRepo size: 4
2021-08-14T17:50:03.917Z,1628963403.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.099998 m,
      bearing: 267.179679 deg,
      approachRate: -0.674032 m/s,
      LOS rate: 0.314565 deg/s,
      cmd update: 1.258261 deg/s,
      cmd heading: 269.404453 deg,
      new cmd heading: 269.372031 deg.

2021-08-14T17:50:06.307Z,1628963406.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:06.681Z,1628963406.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:06.681Z,1628963406.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:06.681Z,1628963406.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:06.682Z,1628963406.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:07.110Z,1628963407.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,006E0,186,80,80,9D,FF
2021-08-14T17:50:07.110Z,1628963407.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:07.110Z,1628963407.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:07.112Z,1628963407.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:07.489Z,1628963407.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:07.897Z,1628963407.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,006AA,186,80,80,98,FF
2021-08-14T17:50:07.897Z,1628963407.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:08.311Z,1628963408.311 [Micromodem](INFO): Nmea in: $SNTTA,0.051456,,,,175008.99*48

2021-08-14T17:50:08.349Z,1628963408.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.860008 m, bearing: 266.253587 deg, deltaT: 4.470765 s, approachRate: -0.724706 m/s, LOS rate: -0.207144 deg/s, posRepo size: 4
2021-08-14T17:50:08.351Z,1628963408.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.860008 m,
      bearing: 266.253587 deg,
      approachRate: -0.724706 m/s,
      LOS rate: -0.207144 deg/s,
      cmd update: -0.828576 deg/s,
      cmd heading: 275.049603 deg,
      new cmd heading: 275.552116 deg.

2021-08-14T17:50:10.761Z,1628963410.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:11.162Z,1628963411.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:11.162Z,1628963411.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:11.162Z,1628963411.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:11.163Z,1628963411.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:11.529Z,1628963411.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,006AA,186,80,80,98,FF
2021-08-14T17:50:11.529Z,1628963411.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:11.529Z,1628963411.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:11.531Z,1628963411.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:11.933Z,1628963411.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:12.337Z,1628963412.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00676,185,80,80,99,FF
2021-08-14T17:50:12.338Z,1628963412.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:12.761Z,1628963412.761 [Micromodem](INFO): Nmea in: $SNTTA,0.055776,0.403630,,,175013.41*5E

2021-08-14T17:50:12.810Z,1628963412.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 264.901019 deg, deltaT: 4.401517 s, approachRate: -0.708848 m/s, LOS rate: -0.307296 deg/s, posRepo size: 4
2021-08-14T17:50:12.812Z,1628963412.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 264.901019 deg,
      approachRate: -0.708848 m/s,
      LOS rate: -0.307296 deg/s,
      cmd update: -1.229184 deg/s,
      cmd heading: 271.399072 deg,
      new cmd heading: 271.021898 deg.

2021-08-14T17:50:15.219Z,1628963415.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:15.576Z,1628963415.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:15.577Z,1628963415.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:15.577Z,1628963415.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:15.579Z,1628963415.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:15.973Z,1628963415.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00676,185,80,80,99,FF
2021-08-14T17:50:15.974Z,1628963415.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:15.974Z,1628963415.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:15.975Z,1628963415.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:16.376Z,1628963416.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:16.781Z,1628963416.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00643,186,80,80,86,FF
2021-08-14T17:50:16.781Z,1628963416.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:17.213Z,1628963417.213 [Micromodem](INFO): Nmea in: $SNTTA,0.074808,,,,175017.86*48

2021-08-14T17:50:17.266Z,1628963417.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 266.099990 deg, deltaT: 4.494461 s, approachRate: -0.680838 m/s, LOS rate: 0.266766 deg/s, posRepo size: 4
2021-08-14T17:50:17.268Z,1628963417.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.680004 m,
      bearing: 266.099990 deg,
      approachRate: -0.680838 m/s,
      LOS rate: 0.266766 deg/s,
      cmd update: 1.067066 deg/s,
      cmd heading: 265.884599 deg,
      new cmd heading: 265.362138 deg.

2021-08-14T17:50:19.677Z,1628963419.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:20.025Z,1628963420.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:20.025Z,1628963420.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:20.025Z,1628963420.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:20.026Z,1628963420.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:20.421Z,1628963420.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00643,186,80,80,86,FF
2021-08-14T17:50:20.421Z,1628963420.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:20.421Z,1628963420.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:20.423Z,1628963420.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:20.905Z,1628963420.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:21.237Z,1628963421.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,0060D,187,80,80,75,FF
2021-08-14T17:50:21.238Z,1628963421.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:21.673Z,1628963421.673 [Micromodem](INFO): Nmea in: $SNTTA,0.045346,,,,175022.30*40

2021-08-14T17:50:21.719Z,1628963421.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 266.787571 deg, deltaT: 4.492824 s, approachRate: -0.721151 m/s, LOS rate: 0.153040 deg/s, posRepo size: 4
2021-08-14T17:50:21.725Z,1628963421.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.439999 m,
      bearing: 266.787571 deg,
      approachRate: -0.721151 m/s,
      LOS rate: 0.153040 deg/s,
      cmd update: 0.612160 deg/s,
      cmd heading: 270.670504 deg,
      new cmd heading: 271.089603 deg.

2021-08-14T17:50:24.103Z,1628963424.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:24.453Z,1628963424.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:24.453Z,1628963424.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:24.453Z,1628963424.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:24.454Z,1628963424.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:24.867Z,1628963424.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,0060D,187,80,80,75,FF
2021-08-14T17:50:24.868Z,1628963424.868 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:24.868Z,1628963424.868 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:24.870Z,1628963424.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:25.298Z,1628963425.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:25.705Z,1628963425.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,005D7,186,80,80,92,FF
2021-08-14T17:50:25.706Z,1628963425.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:26.097Z,1628963426.097 [Micromodem](INFO): Nmea in: $SNTTA,0.042628,,,,175026.75*4F

2021-08-14T17:50:26.128Z,1628963426.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 264.945005 deg, deltaT: 4.483513 s, approachRate: -0.722647 m/s, LOS rate: -0.410965 deg/s, posRepo size: 4
2021-08-14T17:50:26.130Z,1628963426.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.200001 m,
      bearing: 264.945005 deg,
      approachRate: -0.722647 m/s,
      LOS rate: -0.410965 deg/s,
      cmd update: -1.643860 deg/s,
      cmd heading: 273.419293 deg,
      new cmd heading: 273.610101 deg.

2021-08-14T17:50:28.519Z,1628963428.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:28.905Z,1628963428.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:28.906Z,1628963428.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:28.906Z,1628963428.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:28.907Z,1628963428.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:29.317Z,1628963429.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,005D7,186,80,80,92,FF
2021-08-14T17:50:29.317Z,1628963429.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:29.317Z,1628963429.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:29.319Z,1628963429.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:29.781Z,1628963429.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:30.162Z,1628963430.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,005A4,186,80,80,99,FF
2021-08-14T17:50:30.162Z,1628963430.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:30.613Z,1628963430.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175031.20*5D

2021-08-14T17:50:30.651Z,1628963430.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 263.657077 deg, deltaT: 4.357992 s, approachRate: -0.702158 m/s, LOS rate: -0.295532 deg/s, posRepo size: 4
2021-08-14T17:50:30.658Z,1628963430.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 263.657077 deg,
      approachRate: -0.702158 m/s,
      LOS rate: -0.295532 deg/s,
      cmd update: -1.182130 deg/s,
      cmd heading: 266.240277 deg,
      new cmd heading: 265.472042 deg.

2021-08-14T17:50:33.051Z,1628963433.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:33.401Z,1628963433.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:33.401Z,1628963433.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:33.401Z,1628963433.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:33.402Z,1628963433.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:33.818Z,1628963433.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,005A4,186,80,80,99,FF
2021-08-14T17:50:33.818Z,1628963433.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:33.819Z,1628963433.819 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:33.821Z,1628963433.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:34.209Z,1628963434.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:34.634Z,1628963434.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00570,186,80,80,51,FF
2021-08-14T17:50:34.634Z,1628963434.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:35.043Z,1628963435.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175035.71*5D

2021-08-14T17:50:35.122Z,1628963435.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 265.286624 deg, deltaT: 4.513787 s, approachRate: -0.691217 m/s, LOS rate: 0.361015 deg/s, posRepo size: 4
2021-08-14T17:50:35.124Z,1628963435.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 265.286624 deg,
      approachRate: -0.691217 m/s,
      LOS rate: 0.361015 deg/s,
      cmd update: 1.444062 deg/s,
      cmd heading: 260.918542 deg,
      new cmd heading: 260.402369 deg.

2021-08-14T17:50:37.491Z,1628963437.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:37.853Z,1628963437.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:37.853Z,1628963437.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:37.853Z,1628963437.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:37.854Z,1628963437.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:38.257Z,1628963438.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00570,186,80,80,51,FF
2021-08-14T17:50:38.257Z,1628963438.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:38.257Z,1628963438.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:38.259Z,1628963438.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:38.671Z,1628963438.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:39.060Z,1628963439.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,0053B,184,80,80,79,FF
2021-08-14T17:50:39.062Z,1628963439.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:39.501Z,1628963439.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175040.14*5C

2021-08-14T17:50:39.606Z,1628963439.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 264.170844 deg, deltaT: 4.431813 s, approachRate: -0.717539 m/s, LOS rate: -0.251766 deg/s, posRepo size: 4
2021-08-14T17:50:39.612Z,1628963439.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.840000 m,
      bearing: 264.170844 deg,
      approachRate: -0.717539 m/s,
      LOS rate: -0.251766 deg/s,
      cmd update: -1.007064 deg/s,
      cmd heading: 267.333269 deg,
      new cmd heading: 268.023563 deg.

2021-08-14T17:50:41.942Z,1628963441.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:42.293Z,1628963442.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:42.293Z,1628963442.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:42.293Z,1628963442.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:42.294Z,1628963442.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:42.694Z,1628963442.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,0053B,184,80,80,79,FF
2021-08-14T17:50:42.694Z,1628963442.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:42.694Z,1628963442.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:42.696Z,1628963442.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:43.136Z,1628963443.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:43.497Z,1628963443.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00507,187,80,80,78,FF
2021-08-14T17:50:43.498Z,1628963443.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:43.945Z,1628963443.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175044.58*50

2021-08-14T17:50:43.993Z,1628963443.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 263.144758 deg, deltaT: 4.385333 s, approachRate: -0.711463 m/s, LOS rate: -0.233981 deg/s, posRepo size: 4
2021-08-14T17:50:43.994Z,1628963443.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.72 m.
2021-08-14T17:50:43.996Z,1628963443.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.719997 m,
      bearing: 263.144758 deg,
      approachRate: -0.711463 m/s,
      LOS rate: -0.233981 deg/s,
      cmd update: -0.935925 deg/s,
      cmd heading: 262.915397 deg,
      new cmd heading: 262.433678 deg.

2021-08-14T17:50:44.356Z,1628963444.356 [PowerOnly](INFO): Powering up loadControl
2021-08-14T17:50:44.414Z,1628963444.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T17:50:44.414Z,1628963444.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:50:44.414Z,1628963444.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T17:50:44.415Z,1628963444.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T17:50:44.415Z,1628963444.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T17:50:44.415Z,1628963444.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T17:50:44.773Z,1628963444.773 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T17:50:44.773Z,1628963444.773 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:50:44.773Z,1628963444.773 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T17:50:44.773Z,1628963444.773 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:50:46.026Z,1628963446.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:46.361Z,1628963446.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:46.361Z,1628963446.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:46.361Z,1628963446.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:46.362Z,1628963446.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:46.725Z,1628963446.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,00507,187,80,80,78,FF
2021-08-14T17:50:46.725Z,1628963446.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:46.726Z,1628963446.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:46.727Z,1628963446.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:47.162Z,1628963447.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:47.963Z,1628963447.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175048.61*56

2021-08-14T17:50:48.797Z,1628963448.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:50.373Z,1628963450.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,78,FF
2021-08-14T17:50:50.373Z,1628963450.373 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,78,FF
2021-08-14T17:50:50.374Z,1628963450.374 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:50:51.662Z,1628963451.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:51.989Z,1628963451.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:51.989Z,1628963451.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:51.989Z,1628963451.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:51.990Z,1628963451.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:52.393Z,1628963452.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,78,FF
2021-08-14T17:50:52.393Z,1628963452.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:52.393Z,1628963452.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:52.395Z,1628963452.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:52.796Z,1628963452.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:53.193Z,1628963453.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00497,184,80,80,9F,FF
2021-08-14T17:50:53.193Z,1628963453.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:53.258Z,1628963453.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:50:53.657Z,1628963453.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175054.28*56

2021-08-14T17:50:53.658Z,1628963453.658 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,175055,AUV,.39330*78
 expected 3A
2021-08-14T17:50:53.680Z,1628963453.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 265.897133 deg, deltaT: 9.740619 s, approachRate: -0.689895 m/s, LOS rate: 0.282567 deg/s, posRepo size: 4
2021-08-14T17:50:53.681Z,1628963453.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-14T17:50:53.683Z,1628963453.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 265.897133 deg,
      approachRate: -0.689895 m/s,
      LOS rate: 0.282567 deg/s,
      cmd update: 1.130267 deg/s,
      cmd heading: 253.803145 deg,
      new cmd heading: 253.401241 deg.

2021-08-14T17:50:56.068Z,1628963456.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:50:56.425Z,1628963456.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:50:56.425Z,1628963456.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:50:56.425Z,1628963456.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:50:56.426Z,1628963456.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:50:56.837Z,1628963456.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00497,184,80,80,9F,FF
2021-08-14T17:50:56.838Z,1628963456.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:50:56.838Z,1628963456.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:50:56.839Z,1628963456.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:50:57.241Z,1628963457.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:50:57.642Z,1628963457.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00468,187,80,80,4B,FF
2021-08-14T17:50:57.642Z,1628963457.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:50:57.645Z,1628963457.645 [Micromodem](INFO): Nmea in: $SNTTA,0.040997,0.166259,,,175058.72*59

2021-08-14T17:50:57.675Z,1628963457.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:50:58.084Z,1628963458.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 266.348500 deg, deltaT: 4.417565 s, approachRate: -0.638360 m/s, LOS rate: 0.102175 deg/s, posRepo size: 4
2021-08-14T17:50:58.084Z,1628963458.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.18 m.
2021-08-14T17:50:58.086Z,1628963458.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.180000 m,
      bearing: 266.348500 deg,
      approachRate: -0.638360 m/s,
      LOS rate: 0.102175 deg/s,
      cmd update: 0.408701 deg/s,
      cmd heading: 258.800399 deg,
      new cmd heading: 259.265834 deg.

2021-08-14T17:51:00.488Z,1628963460.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:00.869Z,1628963460.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:00.869Z,1628963460.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:00.869Z,1628963460.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:00.870Z,1628963460.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:01.273Z,1628963461.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00468,187,80,80,4B,FF
2021-08-14T17:51:01.273Z,1628963461.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:01.273Z,1628963461.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:01.275Z,1628963461.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:01.689Z,1628963461.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:02.085Z,1628963462.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00437,186,80,80,A9,FF
2021-08-14T17:51:02.086Z,1628963462.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:02.138Z,1628963462.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:02.527Z,1628963462.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175103.16*58

2021-08-14T17:51:02.616Z,1628963462.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 265.616577 deg, deltaT: 4.462936 s, approachRate: -0.658760 m/s, LOS rate: -0.164000 deg/s, posRepo size: 4
2021-08-14T17:51:02.616Z,1628963462.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.24 m.
2021-08-14T17:51:02.617Z,1628963462.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.24 m.
2021-08-14T17:51:02.617Z,1628963462.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T17:51:02.619Z,1628963462.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 265.616577 deg,
      approachRate: -0.658760 m/s,
      LOS rate: -0.164000 deg/s,
      cmd update: -0.656001 deg/s,
      cmd heading: 260.622978 deg,
      new cmd heading: 260.819253 deg.

2021-08-14T17:51:04.955Z,1628963464.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:05.323Z,1628963465.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:05.323Z,1628963465.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:05.323Z,1628963465.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:05.328Z,1628963465.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:05.721Z,1628963465.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00437,186,80,80,A9,FF
2021-08-14T17:51:05.721Z,1628963465.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:05.722Z,1628963465.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:05.723Z,1628963465.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:06.125Z,1628963466.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:06.530Z,1628963466.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00409,185,80,80,81,FF
2021-08-14T17:51:06.530Z,1628963466.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:06.599Z,1628963466.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:06.969Z,1628963466.969 [Micromodem](INFO): Nmea in: $SNTTA,0.041123,,,,175107.61*47

2021-08-14T17:51:07.118Z,1628963467.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 262.995478 deg, deltaT: 4.460080 s, approachRate: -0.618823 m/s, LOS rate: -0.587680 deg/s, posRepo size: 4
2021-08-14T17:51:07.120Z,1628963467.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.480000 m,
      bearing: 262.995478 deg,
      approachRate: -0.618823 m/s,
      LOS rate: -0.587680 deg/s,
      cmd update: -2.350719 deg/s,
      cmd heading: 257.697206 deg,
      new cmd heading: 257.351818 deg.

2021-08-14T17:51:09.410Z,1628963469.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:09.757Z,1628963469.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:09.757Z,1628963469.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:09.757Z,1628963469.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:09.758Z,1628963469.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:10.165Z,1628963470.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00409,185,80,80,81,FF
2021-08-14T17:51:10.166Z,1628963470.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:10.166Z,1628963470.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:10.167Z,1628963470.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:10.583Z,1628963470.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:10.969Z,1628963470.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,003D7,187,80,80,97,FF
2021-08-14T17:51:10.969Z,1628963470.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:11.032Z,1628963471.032 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:11.413Z,1628963471.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175112.05*5A

2021-08-14T17:51:11.469Z,1628963471.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 263.674235 deg, deltaT: 4.433737 s, approachRate: -0.676630 m/s, LOS rate: 0.153089 deg/s, posRepo size: 4
2021-08-14T17:51:11.471Z,1628963471.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 263.674235 deg,
      approachRate: -0.676630 m/s,
      LOS rate: 0.153089 deg/s,
      cmd update: 0.612356 deg/s,
      cmd heading: 247.290279 deg,
      new cmd heading: 246.231541 deg.

2021-08-14T17:51:13.834Z,1628963473.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:14.201Z,1628963474.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:14.201Z,1628963474.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:14.201Z,1628963474.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:14.202Z,1628963474.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:14.625Z,1628963474.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,003D7,187,80,80,97,FF
2021-08-14T17:51:14.625Z,1628963474.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:14.625Z,1628963474.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:14.627Z,1628963474.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:15.017Z,1628963475.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:15.417Z,1628963475.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,003A7,186,80,80,7A,FF
2021-08-14T17:51:15.418Z,1628963475.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:15.516Z,1628963475.516 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:15.849Z,1628963475.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175116.51*5F

2021-08-14T17:51:15.877Z,1628963475.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 272.579900 deg, deltaT: 4.484866 s, approachRate: -0.642160 m/s, LOS rate: 1.985715 deg/s, posRepo size: 4
2021-08-14T17:51:15.879Z,1628963475.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.599998 m,
      bearing: 272.579900 deg,
      approachRate: -0.642160 m/s,
      LOS rate: 1.985715 deg/s,
      cmd update: 7.942859 deg/s,
      cmd heading: 250.037293 deg,
      new cmd heading: 250.265006 deg.

2021-08-14T17:51:18.268Z,1628963478.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:18.649Z,1628963478.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:18.650Z,1628963478.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:18.650Z,1628963478.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:18.651Z,1628963478.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:19.057Z,1628963479.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,003A7,186,80,80,7A,FF
2021-08-14T17:51:19.057Z,1628963479.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:19.057Z,1628963479.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:19.080Z,1628963479.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:19.464Z,1628963479.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:19.857Z,1628963479.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,0037B,186,80,80,91,FF
2021-08-14T17:51:19.858Z,1628963479.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:19.922Z,1628963479.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:20.289Z,1628963480.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175120.96*51

2021-08-14T17:51:20.343Z,1628963480.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 270.578108 deg, deltaT: 4.405014 s, approachRate: -0.599316 m/s, LOS rate: -0.454435 deg/s, posRepo size: 4
2021-08-14T17:51:20.362Z,1628963480.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 270.578108 deg,
      approachRate: -0.599316 m/s,
      LOS rate: -0.454435 deg/s,
      cmd update: -1.817739 deg/s,
      cmd heading: 285.070204 deg,
      new cmd heading: 288.471543 deg.

2021-08-14T17:51:22.742Z,1628963482.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:23.132Z,1628963483.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:23.133Z,1628963483.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:23.133Z,1628963483.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:23.134Z,1628963483.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:23.517Z,1628963483.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,0037B,186,80,80,91,FF
2021-08-14T17:51:23.517Z,1628963483.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:23.517Z,1628963483.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:23.521Z,1628963483.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:23.910Z,1628963483.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:24.314Z,1628963484.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,0034B,183,80,80,9F,FF
2021-08-14T17:51:24.314Z,1628963484.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:24.339Z,1628963484.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:24.737Z,1628963484.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175125.40*5F

2021-08-14T17:51:24.785Z,1628963484.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 268.547192 deg, deltaT: 4.416799 s, approachRate: -0.652056 m/s, LOS rate: -0.459816 deg/s, posRepo size: 4
2021-08-14T17:51:24.787Z,1628963484.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 268.547192 deg,
      approachRate: -0.652056 m/s,
      LOS rate: -0.459816 deg/s,
      cmd update: -1.839265 deg/s,
      cmd heading: 277.034293 deg,
      new cmd heading: 276.218378 deg.

2021-08-14T17:51:27.202Z,1628963487.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:27.558Z,1628963487.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:27.559Z,1628963487.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:27.559Z,1628963487.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:27.561Z,1628963487.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:27.956Z,1628963487.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,0034B,183,80,80,9F,FF
2021-08-14T17:51:27.956Z,1628963487.956 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:27.957Z,1628963487.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:27.958Z,1628963487.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:28.359Z,1628963488.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:28.753Z,1628963488.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00332,186,80,80,A4,FF
2021-08-14T17:51:28.753Z,1628963488.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:28.784Z,1628963488.784 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:29.193Z,1628963489.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175129.84*5B

2021-08-14T17:51:29.258Z,1628963489.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.579999 m, bearing: 275.872980 deg, deltaT: 4.445126 s, approachRate: -0.337449 m/s, LOS rate: 1.648050 deg/s, posRepo size: 4
2021-08-14T17:51:29.264Z,1628963489.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 275.872980 deg,
      approachRate: -0.337449 m/s,
      LOS rate: 1.648050 deg/s,
      cmd update: 6.592198 deg/s,
      cmd heading: 268.858960 deg,
      new cmd heading: 267.981243 deg.

2021-08-14T17:51:31.635Z,1628963491.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:31.977Z,1628963491.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:31.977Z,1628963491.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:31.977Z,1628963491.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:31.978Z,1628963491.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:32.382Z,1628963492.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00332,186,80,80,A4,FF
2021-08-14T17:51:32.382Z,1628963492.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:32.382Z,1628963492.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:32.385Z,1628963492.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:32.788Z,1628963492.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:33.194Z,1628963493.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,002F6,184,80,80,C0,FF
2021-08-14T17:51:33.195Z,1628963493.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:33.289Z,1628963493.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:33.642Z,1628963493.642 [Micromodem](INFO): Nmea in: $SNTTA,0.027284,,,,175134.27*4B

2021-08-14T17:51:33.668Z,1628963493.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 276.167279 deg, deltaT: 4.504612 s, approachRate: -0.799181 m/s, LOS rate: 0.065333 deg/s, posRepo size: 4
2021-08-14T17:51:33.670Z,1628963493.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 276.167279 deg,
      approachRate: -0.799181 m/s,
      LOS rate: 0.065333 deg/s,
      cmd update: 0.261331 deg/s,
      cmd heading: 298.529712 deg,
      new cmd heading: 301.077834 deg.

2021-08-14T17:51:36.042Z,1628963496.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:36.427Z,1628963496.427 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:36.427Z,1628963496.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:36.427Z,1628963496.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:36.428Z,1628963496.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:36.825Z,1628963496.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,002F6,184,80,80,C0,FF
2021-08-14T17:51:36.825Z,1628963496.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:36.825Z,1628963496.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:36.827Z,1628963496.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:37.245Z,1628963497.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:37.633Z,1628963497.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,002D1,182,80,80,B5,FF
2021-08-14T17:51:37.634Z,1628963497.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:37.704Z,1628963497.704 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:38.083Z,1628963498.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175138.71*51

2021-08-14T17:51:38.114Z,1628963498.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 276.873056 deg, deltaT: 4.415248 s, approachRate: -0.502803 m/s, LOS rate: 0.159850 deg/s, posRepo size: 4
2021-08-14T17:51:38.117Z,1628963498.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 276.873056 deg,
      approachRate: -0.502803 m/s,
      LOS rate: 0.159850 deg/s,
      cmd update: 0.639400 deg/s,
      cmd heading: 299.684518 deg,
      new cmd heading: 299.792262 deg.

2021-08-14T17:51:40.486Z,1628963500.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:40.874Z,1628963500.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:40.874Z,1628963500.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:40.874Z,1628963500.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:40.875Z,1628963500.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:41.269Z,1628963501.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,002D1,182,80,80,B5,FF
2021-08-14T17:51:41.269Z,1628963501.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:41.269Z,1628963501.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:41.271Z,1628963501.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:41.677Z,1628963501.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:42.086Z,1628963502.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,038,000,002B7,185,80,80,84,FF
2021-08-14T17:51:42.086Z,1628963502.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:42.107Z,1628963502.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:42.520Z,1628963502.520 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175143.15*5F

2021-08-14T17:51:42.587Z,1628963502.587 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T17:51:42.587Z,1628963502.587 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:51:42.587Z,1628963502.587 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T17:51:42.592Z,1628963502.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:51:42.592Z,1628963502.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T17:51:42.592Z,1628963502.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-08-14T17:51:42.593Z,1628963502.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T17:51:42.593Z,1628963502.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T17:51:42.593Z,1628963502.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T17:51:42.595Z,1628963502.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 290.839400 deg, deltaT: 4.402614 s, approachRate: -0.354335 m/s, LOS rate: 3.172284 deg/s, posRepo size: 4
2021-08-14T17:51:42.606Z,1628963502.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 290.839400 deg,
      approachRate: -0.354335 m/s,
      LOS rate: 3.172284 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 302.499720 deg,
      new cmd heading: 302.814269 deg.

2021-08-14T17:51:42.927Z,1628963502.927 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T175142: (41.552319, -70.708603)
2021-08-14T17:51:42.927Z,1628963502.927 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T17:51:42.927Z,1628963502.927 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T17:51:42.928Z,1628963502.928 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:51:42.928Z,1628963502.928 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T17:51:42.928Z,1628963502.928 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:51:42.928Z,1628963502.928 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T17:51:42.928Z,1628963502.928 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T17:51:42.928Z,1628963502.928 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:51:44.965Z,1628963504.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:45.313Z,1628963505.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:45.314Z,1628963505.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:45.314Z,1628963505.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:45.315Z,1628963505.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:45.713Z,1628963505.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
038,000,002B7,185,80,80,84,FF
2021-08-14T17:51:45.713Z,1628963505.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:45.713Z,1628963505.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:45.715Z,1628963505.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:46.133Z,1628963506.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:46.523Z,1628963506.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,002B4,183,80,80,B1,FF
2021-08-14T17:51:46.523Z,1628963506.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:46.588Z,1628963506.588 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:46.957Z,1628963506.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175147.60*59

2021-08-14T17:51:47.008Z,1628963507.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.020000 m, bearing: 316.424605 deg, deltaT: 4.481406 s, approachRate: -0.040166 m/s, LOS rate: 5.709192 deg/s, posRepo size: 4
2021-08-14T17:51:47.010Z,1628963507.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 316.424605 deg,
      approachRate: -0.040166 m/s,
      LOS rate: 5.709192 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 355.955738 deg,
      new cmd heading: 1.349018 deg.

2021-08-14T17:51:49.408Z,1628963509.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:49.753Z,1628963509.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:49.753Z,1628963509.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:49.753Z,1628963509.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:49.754Z,1628963509.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:50.161Z,1628963510.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,002B4,183,80,80,B1,FF
2021-08-14T17:51:50.161Z,1628963510.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:50.161Z,1628963510.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:50.163Z,1628963510.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:50.596Z,1628963510.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:50.965Z,1628963510.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,002B6,186,80,80,A5,FF
2021-08-14T17:51:50.966Z,1628963510.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:50.991Z,1628963510.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:51.409Z,1628963511.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175152.04*5F

2021-08-14T17:51:51.457Z,1628963511.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 14.382505 deg, deltaT: 4.402672 s, approachRate: 0.027256 m/s, LOS rate: 13.164253 deg/s, posRepo size: 4
2021-08-14T17:51:51.458Z,1628963511.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.164253 deg/s. Setting heading cmd to target bearing of 14.382505deg and heading rate command to 0 deg/s.
2021-08-14T17:51:53.839Z,1628963513.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:54.201Z,1628963514.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:54.202Z,1628963514.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:54.202Z,1628963514.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:54.203Z,1628963514.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:54.641Z,1628963514.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,002B6,186,80,80,A5,FF
2021-08-14T17:51:54.641Z,1628963514.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:54.641Z,1628963514.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:54.643Z,1628963514.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:55.009Z,1628963515.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:55.430Z,1628963515.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,002B6,186,80,80,67,FF
2021-08-14T17:51:55.430Z,1628963515.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:55.475Z,1628963515.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:51:55.835Z,1628963515.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175156.53*59

2021-08-14T17:51:55.883Z,1628963515.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 11.351085 deg, deltaT: 4.504779 s, approachRate: 0.000000 m/s, LOS rate: -0.672934 deg/s, posRepo size: 4
2021-08-14T17:51:55.885Z,1628963515.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 11.351085 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.672934 deg/s,
      cmd update: -2.691737 deg/s,
      cmd heading: 14.382505 deg,
      new cmd heading: 14.382505 deg.

2021-08-14T17:51:58.256Z,1628963518.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:51:58.653Z,1628963518.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:51:58.653Z,1628963518.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:51:58.653Z,1628963518.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:51:58.654Z,1628963518.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:51:59.070Z,1628963519.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,002B6,186,80,80,67,FF
2021-08-14T17:51:59.071Z,1628963519.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:51:59.072Z,1628963519.072 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:51:59.079Z,1628963519.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:51:59.465Z,1628963519.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:51:59.850Z,1628963519.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,002B5,186,80,80,5D,FF
2021-08-14T17:51:59.850Z,1628963519.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:51:59.923Z,1628963519.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:52:00.281Z,1628963520.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175200.96*50

2021-08-14T17:52:00.317Z,1628963520.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 10.157652 deg, deltaT: 4.432256 s, approachRate: -0.013537 m/s, LOS rate: -0.269261 deg/s, posRepo size: 4
2021-08-14T17:52:00.318Z,1628963520.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.08 m.
2021-08-14T17:52:00.324Z,1628963520.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 10.157652 deg,
      approachRate: -0.013537 m/s,
      LOS rate: -0.269261 deg/s,
      cmd update: -1.077043 deg/s,
      cmd heading: 2.419638 deg,
      new cmd heading: 1.339864 deg.

2021-08-14T17:52:02.714Z,1628963522.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:03.133Z,1628963523.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:03.133Z,1628963523.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:03.133Z,1628963523.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:03.134Z,1628963523.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:03.501Z,1628963523.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,002B5,186,80,80,5D,FF
2021-08-14T17:52:03.501Z,1628963523.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:03.501Z,1628963523.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:03.503Z,1628963523.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:03.909Z,1628963523.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:04.305Z,1628963524.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,002B5,185,80,80,6F,FF
2021-08-14T17:52:04.306Z,1628963524.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:04.383Z,1628963524.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:52:04.758Z,1628963524.758 [Micromodem](INFO): Nmea in: $SNTTA,0.006369,,,,175205.39*44

2021-08-14T17:52:04.808Z,1628963524.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 16.260360 deg, deltaT: 4.455464 s, approachRate: 0.000000 m/s, LOS rate: 1.369713 deg/s, posRepo size: 4
2021-08-14T17:52:04.809Z,1628963524.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.08 m. Cable present.
2021-08-14T17:52:04.809Z,1628963524.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T17:52:04.809Z,1628963524.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T17:52:04.809Z,1628963524.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T17:52:05.174Z,1628963525.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T17:52:05.174Z,1628963525.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T17:52:05.174Z,1628963525.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T17:52:05.582Z,1628963525.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T17:52:05.583Z,1628963525.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:52:05.588Z,1628963525.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T17:52:05.588Z,1628963525.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:52:05.588Z,1628963525.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T17:52:05.588Z,1628963525.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T17:52:05.588Z,1628963525.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T17:52:05.588Z,1628963525.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:52:05.922Z,1628963525.922 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T17:52:05.923Z,1628963525.923 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T17:52:05.923Z,1628963525.923 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T17:52:05.923Z,1628963525.923 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:52:05.923Z,1628963525.923 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T17:52:05.923Z,1628963525.923 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T17:52:05.924Z,1628963525.924 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T17:52:05.924Z,1628963525.924 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T17:52:05.924Z,1628963525.924 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T17:52:05.925Z,1628963525.925 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T17:52:05.925Z,1628963525.925 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T17:52:05.925Z,1628963525.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T17:52:05.925Z,1628963525.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T17:52:05.925Z,1628963525.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T17:52:05.925Z,1628963525.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:52:05.926Z,1628963525.926 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T17:52:05.926Z,1628963525.926 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T17:52:06.321Z,1628963526.321 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T17:52:06.321Z,1628963526.321 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T17:52:07.159Z,1628963527.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:07.501Z,1628963527.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:07.501Z,1628963527.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:07.501Z,1628963527.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:07.502Z,1628963527.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:07.901Z,1628963527.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,002B5,185,80,80,6F,FF
2021-08-14T17:52:07.901Z,1628963527.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:07.902Z,1628963527.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:07.903Z,1628963527.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:08.309Z,1628963528.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:08.713Z,1628963528.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,002B7,186,80,80,7F,FF
2021-08-14T17:52:08.714Z,1628963528.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:09.133Z,1628963529.133 [Micromodem](INFO): Nmea in: $SNTTA,0.048759,,,,175209.79*41

2021-08-14T17:52:09.593Z,1628963529.593 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T17:52:09.593Z,1628963529.593 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T17:52:09.593Z,1628963529.593 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T17:52:09.593Z,1628963529.593 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T17:52:09.969Z,1628963529.969 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T17:52:09.969Z,1628963529.969 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T17:52:09.971Z,1628963529.971 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T17:52:09.971Z,1628963529.971 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T17:52:09.971Z,1628963529.971 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T17:52:09.971Z,1628963529.971 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T17:52:09.972Z,1628963529.972 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T17:52:09.973Z,1628963529.973 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T17:52:10.407Z,1628963530.407 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T17:52:10.407Z,1628963530.407 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T17:52:10.407Z,1628963530.407 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T17:52:10.407Z,1628963530.407 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T17:52:10.771Z,1628963530.771 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T17:52:10.771Z,1628963530.771 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T17:52:11.162Z,1628963531.162 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T17:52:11.162Z,1628963531.162 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T17:52:11.162Z,1628963531.162 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T17:52:11.162Z,1628963531.162 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T17:52:11.162Z,1628963531.162 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T17:52:11.602Z,1628963531.602 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T17:52:11.602Z,1628963531.602 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T17:52:11.603Z,1628963531.603 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T17:52:11.603Z,1628963531.603 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T17:52:11.603Z,1628963531.603 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T17:52:11.603Z,1628963531.603 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T17:52:11.604Z,1628963531.604 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T17:52:11.605Z,1628963531.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:11.949Z,1628963531.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:11.949Z,1628963531.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:11.949Z,1628963531.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:11.950Z,1628963531.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:12.354Z,1628963532.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,002B7,186,80,80,7F,FF
2021-08-14T17:52:12.354Z,1628963532.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:12.354Z,1628963532.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:12.356Z,1628963532.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:12.857Z,1628963532.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:13.185Z,1628963533.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,002B7,186,80,80,7E,FF
2021-08-14T17:52:13.186Z,1628963533.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:13.637Z,1628963533.637 [Micromodem](INFO): Nmea in: $SNTTA,0.028603,,,,175214.24*4D

2021-08-14T17:52:16.043Z,1628963536.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:16.429Z,1628963536.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:16.429Z,1628963536.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:16.429Z,1628963536.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:16.430Z,1628963536.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:16.821Z,1628963536.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,002B7,186,80,80,7E,FF
2021-08-14T17:52:16.821Z,1628963536.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:16.821Z,1628963536.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:16.823Z,1628963536.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:17.245Z,1628963537.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:17.629Z,1628963537.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,002B6,186,80,80,67,FF
2021-08-14T17:52:17.630Z,1628963537.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:18.087Z,1628963538.087 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175218.71*50

2021-08-14T17:52:20.511Z,1628963540.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:20.857Z,1628963540.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:20.857Z,1628963540.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:20.857Z,1628963540.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:20.858Z,1628963540.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:21.277Z,1628963541.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,002B6,186,80,80,67,FF
2021-08-14T17:52:21.277Z,1628963541.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:21.277Z,1628963541.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:21.279Z,1628963541.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:21.683Z,1628963541.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:22.089Z,1628963542.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7E,000,002B8,186,80,80,A0,FF
2021-08-14T17:52:22.090Z,1628963542.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:22.501Z,1628963542.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175223.17*58

2021-08-14T17:52:24.117Z,1628963544.117 [PowerOnly](INFO): Powering down loadControl
2021-08-14T17:52:24.903Z,1628963544.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:25.390Z,1628963545.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:25.390Z,1628963545.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:25.390Z,1628963545.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:25.391Z,1628963545.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:25.709Z,1628963545.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7E,000,002B8,186,80,80,A0,FF
2021-08-14T17:52:25.709Z,1628963545.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:25.709Z,1628963545.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:25.711Z,1628963545.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:26.167Z,1628963546.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:26.517Z,1628963546.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,002BA,187,80,80,8D,FF
2021-08-14T17:52:26.518Z,1628963546.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:26.965Z,1628963546.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175227.59*56

2021-08-14T17:52:29.397Z,1628963549.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:29.745Z,1628963549.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:29.746Z,1628963549.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:29.746Z,1628963549.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:29.747Z,1628963549.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:30.178Z,1628963550.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,002BA,187,80,80,8D,FF
2021-08-14T17:52:30.178Z,1628963550.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:30.178Z,1628963550.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:30.181Z,1628963550.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:30.579Z,1628963550.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:30.961Z,1628963550.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,002B8,187,80,80,80,FF
2021-08-14T17:52:30.962Z,1628963550.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:31.379Z,1628963551.379 [Micromodem](INFO): Nmea in: $SNTTA,0.064116,,,,175232.07*43

2021-08-14T17:52:33.785Z,1628963553.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:34.193Z,1628963554.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:34.193Z,1628963554.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:34.193Z,1628963554.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:34.194Z,1628963554.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:34.587Z,1628963554.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,002B8,187,80,80,80,FF
2021-08-14T17:52:34.587Z,1628963554.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:34.587Z,1628963554.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:34.589Z,1628963554.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:34.977Z,1628963554.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:35.505Z,1628963555.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,002B7,186,80,80,76,FF
2021-08-14T17:52:35.506Z,1628963555.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:35.788Z,1628963555.788 [CTD_Seabird](ERROR): Failed to parse device response: 0,4.76092,4804.29
2021-08-14T17:52:35.850Z,1628963555.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175236.47*59

2021-08-14T17:52:38.274Z,1628963558.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:38.657Z,1628963558.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:38.657Z,1628963558.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:38.657Z,1628963558.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:38.658Z,1628963558.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:39.053Z,1628963559.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,002B7,186,80,80,76,FF
2021-08-14T17:52:39.053Z,1628963559.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:39.053Z,1628963559.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:39.055Z,1628963559.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:39.461Z,1628963559.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:39.873Z,1628963559.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,002B4,187,80,80,7F,FF
2021-08-14T17:52:39.873Z,1628963559.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:40.290Z,1628963560.290 [Micromodem](INFO): Nmea in: $SNTTA,0.025635,,,,175240.94*4F

2021-08-14T17:52:42.705Z,1628963562.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:43.085Z,1628963563.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:43.086Z,1628963563.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:43.086Z,1628963563.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:43.087Z,1628963563.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:43.493Z,1628963563.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,002B4,187,80,80,7F,FF
2021-08-14T17:52:43.493Z,1628963563.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:43.493Z,1628963563.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:43.495Z,1628963563.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:43.860Z,1628963563.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:44.296Z,1628963564.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,002B4,186,80,80,9A,FF
2021-08-14T17:52:44.296Z,1628963564.296 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:44.708Z,1628963564.708 [Micromodem](INFO): Nmea in: $SNTTA,,0.244204,,,175245.38*4F

2021-08-14T17:52:47.135Z,1628963567.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:47.525Z,1628963567.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:47.525Z,1628963567.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:47.525Z,1628963567.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:47.526Z,1628963567.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:47.937Z,1628963567.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,002B4,186,80,80,9A,FF
2021-08-14T17:52:47.937Z,1628963567.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:47.937Z,1628963567.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:47.939Z,1628963567.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:48.337Z,1628963568.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:48.737Z,1628963568.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,002B7,187,80,80,5B,FF
2021-08-14T17:52:48.738Z,1628963568.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:49.169Z,1628963569.169 [Micromodem](INFO): Nmea in: $SNTTA,0.030469,,,,175249.82*4E

2021-08-14T17:52:51.613Z,1628963571.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:51.965Z,1628963571.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:51.965Z,1628963571.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:51.965Z,1628963571.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:51.966Z,1628963571.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:52.381Z,1628963572.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,002B7,187,80,80,5B,FF
2021-08-14T17:52:52.382Z,1628963572.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:52.382Z,1628963572.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:52.383Z,1628963572.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:52.784Z,1628963572.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:53.186Z,1628963573.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,002B8,187,80,80,87,FF
2021-08-14T17:52:53.186Z,1628963573.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:53.189Z,1628963573.189 [Micromodem](INFO): Nmea in: $SNTTA,0.123805,0.020199,,,175254.27*55

2021-08-14T17:52:55.740Z,1628963575.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:52:56.005Z,1628963576.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:52:56.005Z,1628963576.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:52:56.005Z,1628963576.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:52:56.006Z,1628963576.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:52:56.413Z,1628963576.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,002B8,187,80,80,87,FF
2021-08-14T17:52:56.413Z,1628963576.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:52:56.414Z,1628963576.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:52:56.415Z,1628963576.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:52:56.821Z,1628963576.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:52:57.221Z,1628963577.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,002B7,186,80,80,86,FF
2021-08-14T17:52:57.222Z,1628963577.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:52:57.661Z,1628963577.661 [Micromodem](INFO): Nmea in: $SNTTA,0.042933,,,,175258.30*40

2021-08-14T17:53:00.067Z,1628963580.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:00.455Z,1628963580.455 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:00.455Z,1628963580.455 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:00.456Z,1628963580.456 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:00.457Z,1628963580.457 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:00.857Z,1628963580.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,002B7,186,80,80,86,FF
2021-08-14T17:53:00.857Z,1628963580.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:00.857Z,1628963580.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:00.859Z,1628963580.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:00.902Z,1628963580.902 [CTD_Seabird](ERROR): Failed to parse device response: 1,4.76139,4805.11
2021-08-14T17:53:01.265Z,1628963581.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:01.665Z,1628963581.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,002B8,187,80,80,7F,FF
2021-08-14T17:53:01.666Z,1628963581.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:02.128Z,1628963582.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175302.74*5F

2021-08-14T17:53:04.585Z,1628963584.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:04.882Z,1628963584.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:04.883Z,1628963584.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:04.883Z,1628963584.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:04.884Z,1628963584.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:05.273Z,1628963585.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,002B8,187,80,80,7F,FF
2021-08-14T17:53:05.273Z,1628963585.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:05.273Z,1628963585.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:05.275Z,1628963585.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:05.789Z,1628963585.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:06.137Z,1628963586.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,002B8,188,80,80,76,FF
2021-08-14T17:53:06.138Z,1628963586.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:06.561Z,1628963586.561 [Micromodem](INFO): Nmea in: $SNTTA,0.006261,,,,175307.16*43

2021-08-14T17:53:08.982Z,1628963588.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:09.345Z,1628963589.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:09.345Z,1628963589.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:09.345Z,1628963589.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:09.346Z,1628963589.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:09.749Z,1628963589.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,002B8,188,80,80,76,FF
2021-08-14T17:53:09.749Z,1628963589.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:09.749Z,1628963589.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:09.751Z,1628963589.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:10.185Z,1628963590.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:10.569Z,1628963590.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,002B5,186,80,80,8F,FF
2021-08-14T17:53:10.570Z,1628963590.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:11.013Z,1628963591.013 [Micromodem](INFO): Nmea in: $SNTTA,0.023230,,,,175311.64*42

2021-08-14T17:53:13.414Z,1628963593.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:13.793Z,1628963593.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:13.793Z,1628963593.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:13.793Z,1628963593.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:13.794Z,1628963593.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:14.179Z,1628963594.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,002B5,186,80,80,8F,FF
2021-08-14T17:53:14.179Z,1628963594.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:14.180Z,1628963594.180 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:14.183Z,1628963594.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:14.629Z,1628963594.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:14.982Z,1628963594.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,002B5,186,80,80,91,FF
2021-08-14T17:53:14.983Z,1628963594.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:17.869Z,1628963597.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:18.241Z,1628963598.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:18.241Z,1628963598.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:18.242Z,1628963598.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:18.243Z,1628963598.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:18.637Z,1628963598.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,002B5,186,80,80,91,FF
2021-08-14T17:53:18.638Z,1628963598.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:18.638Z,1628963598.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:18.639Z,1628963598.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:19.062Z,1628963599.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:19.442Z,1628963599.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,002B5,187,80,80,82,FF
2021-08-14T17:53:19.442Z,1628963599.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:19.878Z,1628963599.878 [Micromodem](INFO): Nmea in: $SNTTA,0.023480,,,,175320.53*49

2021-08-14T17:53:22.326Z,1628963602.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:22.681Z,1628963602.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:22.681Z,1628963602.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:22.681Z,1628963602.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:22.682Z,1628963602.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:23.093Z,1628963603.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,002B5,187,80,80,82,FF
2021-08-14T17:53:23.094Z,1628963603.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:23.094Z,1628963603.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:23.097Z,1628963603.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:23.485Z,1628963603.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:23.891Z,1628963603.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,002B5,186,80,80,89,FF
2021-08-14T17:53:23.891Z,1628963603.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:24.282Z,1628963604.282 [Micromodem](INFO): Nmea in: $SNTTA,0.027742,,,,175324.98*43

2021-08-14T17:53:26.757Z,1628963606.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:27.117Z,1628963607.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:27.117Z,1628963607.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:27.117Z,1628963607.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:27.118Z,1628963607.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:27.532Z,1628963607.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,002B5,186,80,80,89,FF
2021-08-14T17:53:27.532Z,1628963607.532 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:27.532Z,1628963607.532 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:27.536Z,1628963607.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:27.929Z,1628963607.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:28.329Z,1628963608.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,002B5,187,80,80,6B,FF
2021-08-14T17:53:28.330Z,1628963608.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:28.333Z,1628963608.333 [Micromodem](INFO): Nmea in: $SNTTA,0.002474,0.178348,,,175329.42*57

2021-08-14T17:53:31.170Z,1628963611.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:31.574Z,1628963611.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:31.574Z,1628963611.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:31.575Z,1628963611.575 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:31.580Z,1628963611.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:31.970Z,1628963611.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,002B5,187,80,80,6B,FF
2021-08-14T17:53:31.970Z,1628963611.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:31.970Z,1628963611.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:31.972Z,1628963611.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:32.381Z,1628963612.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:32.773Z,1628963612.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,002B8,183,80,80,67,FF
2021-08-14T17:53:32.774Z,1628963612.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:33.202Z,1628963613.202 [Micromodem](INFO): Nmea in: $SNTTA,0.007517,,,,175333.86*4A

2021-08-14T17:53:35.611Z,1628963615.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:36.088Z,1628963616.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:36.088Z,1628963616.088 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:36.089Z,1628963616.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:36.090Z,1628963616.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:36.405Z,1628963616.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,002B8,183,80,80,67,FF
2021-08-14T17:53:36.405Z,1628963616.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:36.406Z,1628963616.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:36.407Z,1628963616.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:36.816Z,1628963616.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:37.217Z,1628963617.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,002B6,188,80,80,7C,FF
2021-08-14T17:53:37.218Z,1628963617.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:37.657Z,1628963617.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175338.29*5E

2021-08-14T17:53:40.069Z,1628963620.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:40.465Z,1628963620.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:40.465Z,1628963620.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:40.465Z,1628963620.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:40.467Z,1628963620.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:40.865Z,1628963620.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,002B6,188,80,80,7C,FF
2021-08-14T17:53:40.865Z,1628963620.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:40.865Z,1628963620.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:40.867Z,1628963620.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:41.261Z,1628963621.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:41.666Z,1628963621.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,002B4,186,80,80,83,FF
2021-08-14T17:53:41.666Z,1628963621.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:42.129Z,1628963622.129 [Micromodem](INFO): Nmea in: $SNTTA,0.004864,,,,175342.75*4A

2021-08-14T17:53:44.471Z,1628963624.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:44.898Z,1628963624.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:44.899Z,1628963624.899 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:44.899Z,1628963624.899 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:44.900Z,1628963624.900 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:45.273Z,1628963625.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,002B4,186,80,80,83,FF
2021-08-14T17:53:45.273Z,1628963625.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:45.273Z,1628963625.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:45.275Z,1628963625.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:45.678Z,1628963625.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:46.209Z,1628963626.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F32,000,002B5,187,80,80,7D,FF
2021-08-14T17:53:46.209Z,1628963626.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:46.530Z,1628963626.530 [Micromodem](INFO): Nmea in: $SNTTA,0.002464,,,,175347.16*40

2021-08-14T17:53:48.948Z,1628963628.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:49.341Z,1628963629.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:49.341Z,1628963629.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:49.341Z,1628963629.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:49.342Z,1628963629.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:49.746Z,1628963629.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F32,000,002B5,187,80,80,7D,FF
2021-08-14T17:53:49.746Z,1628963629.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:49.746Z,1628963629.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:49.748Z,1628963629.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:50.207Z,1628963630.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:50.565Z,1628963630.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,002B4,189,80,80,61,FF
2021-08-14T17:53:50.567Z,1628963630.567 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:53.411Z,1628963633.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:53.781Z,1628963633.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:53.781Z,1628963633.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:53.781Z,1628963633.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:53.782Z,1628963633.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:54.185Z,1628963634.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,002B4,189,80,80,61,FF
2021-08-14T17:53:54.185Z,1628963634.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:54.185Z,1628963634.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:54.187Z,1628963634.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:54.587Z,1628963634.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:54.993Z,1628963634.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,002B4,186,80,80,91,FF
2021-08-14T17:53:54.993Z,1628963634.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:55.405Z,1628963635.405 [Micromodem](INFO): Nmea in: $SNTTA,0.006537,,,,175356.07*43

2021-08-14T17:53:57.861Z,1628963637.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:53:58.229Z,1628963638.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:53:58.229Z,1628963638.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:53:58.229Z,1628963638.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:53:58.230Z,1628963638.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:53:58.626Z,1628963638.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,002B4,186,80,80,91,FF
2021-08-14T17:53:58.626Z,1628963638.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:53:58.626Z,1628963638.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:53:58.628Z,1628963638.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:53:59.037Z,1628963639.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:53:59.437Z,1628963639.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,002B4,186,80,80,84,FF
2021-08-14T17:53:59.437Z,1628963639.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:53:59.869Z,1628963639.869 [Micromodem](INFO): Nmea in: $SNTTA,0.002456,,,,175400.52*45

2021-08-14T17:54:02.310Z,1628963642.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:02.665Z,1628963642.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:02.665Z,1628963642.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:02.665Z,1628963642.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:02.666Z,1628963642.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:03.073Z,1628963643.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,002B4,186,80,80,84,FF
2021-08-14T17:54:03.073Z,1628963643.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:03.074Z,1628963643.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:03.075Z,1628963643.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:03.490Z,1628963643.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:03.885Z,1628963643.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,002B9,187,80,80,7E,FF
2021-08-14T17:54:03.885Z,1628963643.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:04.298Z,1628963644.298 [Micromodem](INFO): Nmea in: $SNTTA,0.054204,0.451449,,,175404.96*5C

2021-08-14T17:54:06.741Z,1628963646.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:07.125Z,1628963647.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:07.125Z,1628963647.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:07.125Z,1628963647.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:07.126Z,1628963647.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:07.529Z,1628963647.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,002B9,187,80,80,7E,FF
2021-08-14T17:54:07.529Z,1628963647.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:07.529Z,1628963647.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:07.531Z,1628963647.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:07.932Z,1628963647.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:08.329Z,1628963648.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,002B4,187,80,80,7E,FF
2021-08-14T17:54:08.330Z,1628963648.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:08.765Z,1628963648.765 [Micromodem](INFO): Nmea in: $SNTTA,0.066534,,,,175409.42*4A

2021-08-14T17:54:11.195Z,1628963651.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:11.565Z,1628963651.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:11.565Z,1628963651.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:11.566Z,1628963651.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:11.567Z,1628963651.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:11.969Z,1628963651.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,002B4,187,80,80,7E,FF
2021-08-14T17:54:11.970Z,1628963651.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:11.970Z,1628963651.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:11.973Z,1628963651.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:12.393Z,1628963652.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:12.786Z,1628963652.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,002B5,186,80,80,55,FF
2021-08-14T17:54:12.786Z,1628963652.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:15.610Z,1628963655.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:15.969Z,1628963655.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:15.969Z,1628963655.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:15.969Z,1628963655.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:15.970Z,1628963655.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:16.478Z,1628963656.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,002B5,186,80,80,55,FF
2021-08-14T17:54:16.478Z,1628963656.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:16.478Z,1628963656.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:16.480Z,1628963656.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:16.816Z,1628963656.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:17.213Z,1628963657.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,002B4,186,80,80,53,FF
2021-08-14T17:54:17.214Z,1628963657.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:18.045Z,1628963658.045 [Micromodem](INFO): Nmea in: $SNTTA,0.004876,,,,175418.37*47

2021-08-14T17:54:20.134Z,1628963660.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:20.457Z,1628963660.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:20.457Z,1628963660.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:20.457Z,1628963660.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:20.458Z,1628963660.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:20.857Z,1628963660.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,002B4,186,80,80,53,FF
2021-08-14T17:54:20.857Z,1628963660.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:20.857Z,1628963660.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:20.859Z,1628963660.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:21.260Z,1628963661.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:21.669Z,1628963661.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,002B7,186,80,80,5A,FF
2021-08-14T17:54:21.670Z,1628963661.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:22.113Z,1628963662.113 [Micromodem](INFO): Nmea in: $SNTTA,0.004848,,,,175422.74*44

2021-08-14T17:54:24.569Z,1628963664.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:24.857Z,1628963664.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:24.857Z,1628963664.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:24.857Z,1628963664.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:24.858Z,1628963664.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:25.293Z,1628963665.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,002B7,186,80,80,5A,FF
2021-08-14T17:54:25.293Z,1628963665.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:25.294Z,1628963665.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:25.295Z,1628963665.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:25.674Z,1628963665.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:26.090Z,1628963666.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,002B4,187,80,80,79,FF
2021-08-14T17:54:26.091Z,1628963666.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:26.598Z,1628963666.598 [Micromodem](INFO): Nmea in: $SNTTA,0.036809,0.341671,,,175427.18*57

2021-08-14T17:54:28.974Z,1628963668.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:29.333Z,1628963669.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:29.333Z,1628963669.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:29.333Z,1628963669.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:29.334Z,1628963669.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:29.745Z,1628963669.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,002B4,187,80,80,79,FF
2021-08-14T17:54:29.745Z,1628963669.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:29.746Z,1628963669.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:29.747Z,1628963669.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:30.173Z,1628963670.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:30.569Z,1628963670.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,002B4,186,80,80,71,FF
2021-08-14T17:54:30.570Z,1628963670.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:30.989Z,1628963670.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175431.63*5E

2021-08-14T17:54:33.391Z,1628963673.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:33.777Z,1628963673.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:33.777Z,1628963673.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:33.777Z,1628963673.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:33.778Z,1628963673.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:34.185Z,1628963674.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,002B4,186,80,80,71,FF
2021-08-14T17:54:34.185Z,1628963674.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:34.185Z,1628963674.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:34.187Z,1628963674.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:34.616Z,1628963674.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:34.961Z,1628963674.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,002B4,187,80,80,79,FF
2021-08-14T17:54:34.962Z,1628963674.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:35.425Z,1628963675.425 [Micromodem](INFO): Nmea in: $SNTTA,0.037527,,,,175436.07*41

2021-08-14T17:54:37.855Z,1628963677.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:38.221Z,1628963678.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:38.221Z,1628963678.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:38.221Z,1628963678.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:38.222Z,1628963678.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:38.625Z,1628963678.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,002B4,187,80,80,79,FF
2021-08-14T17:54:38.625Z,1628963678.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:38.625Z,1628963678.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:38.627Z,1628963678.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:39.042Z,1628963679.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:39.433Z,1628963679.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,002B5,186,80,80,89,FF
2021-08-14T17:54:39.433Z,1628963679.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:39.881Z,1628963679.881 [Micromodem](INFO): Nmea in: $SNTTA,0.002478,,,,175440.51*4E

2021-08-14T17:54:42.299Z,1628963682.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:42.665Z,1628963682.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:42.665Z,1628963682.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:42.665Z,1628963682.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:42.666Z,1628963682.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:43.069Z,1628963683.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,002B5,186,80,80,89,FF
2021-08-14T17:54:43.069Z,1628963683.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:43.070Z,1628963683.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:43.071Z,1628963683.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:43.473Z,1628963683.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:43.885Z,1628963683.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,002B5,187,80,80,8C,FF
2021-08-14T17:54:43.886Z,1628963683.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:44.293Z,1628963684.293 [Micromodem](INFO): Nmea in: $SNTTA,0.060686,0.414053,,,175444.96*5F

2021-08-14T17:54:46.810Z,1628963686.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:47.113Z,1628963687.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:47.113Z,1628963687.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:47.114Z,1628963687.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:47.115Z,1628963687.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:47.513Z,1628963687.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,002B5,187,80,80,8C,FF
2021-08-14T17:54:47.513Z,1628963687.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:47.513Z,1628963687.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:47.516Z,1628963687.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:47.925Z,1628963687.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:48.321Z,1628963688.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,002B5,186,80,80,93,FF
2021-08-14T17:54:48.321Z,1628963688.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:48.758Z,1628963688.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175449.40*50

2021-08-14T17:54:51.171Z,1628963691.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:51.564Z,1628963691.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:51.565Z,1628963691.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:51.565Z,1628963691.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:51.567Z,1628963691.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:51.957Z,1628963691.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,002B5,186,80,80,93,FF
2021-08-14T17:54:51.957Z,1628963691.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:51.957Z,1628963691.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:51.959Z,1628963691.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:52.364Z,1628963692.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:52.773Z,1628963692.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,002B4,186,80,80,5F,FF
2021-08-14T17:54:52.774Z,1628963692.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:53.197Z,1628963693.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175453.84*53

2021-08-14T17:54:55.641Z,1628963695.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:54:55.969Z,1628963695.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:54:55.969Z,1628963695.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:54:55.969Z,1628963695.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:54:55.970Z,1628963695.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:54:56.381Z,1628963696.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,002B4,186,80,80,5F,FF
2021-08-14T17:54:56.381Z,1628963696.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:54:56.381Z,1628963696.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:54:56.383Z,1628963696.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:54:56.881Z,1628963696.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:54:57.209Z,1628963697.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,002B5,187,80,80,85,FF
2021-08-14T17:54:57.209Z,1628963697.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:54:57.655Z,1628963697.655 [Micromodem](INFO): Nmea in: $SNTTA,0.002426,,,,175458.27*4D

2021-08-14T17:55:00.099Z,1628963700.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:00.437Z,1628963700.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:00.437Z,1628963700.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:00.438Z,1628963700.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:00.439Z,1628963700.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:00.857Z,1628963700.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,002B5,187,80,80,85,FF
2021-08-14T17:55:00.857Z,1628963700.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:00.857Z,1628963700.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:00.859Z,1628963700.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:01.257Z,1628963701.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:01.662Z,1628963701.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,002B4,186,80,80,5B,FF
2021-08-14T17:55:01.662Z,1628963701.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:02.101Z,1628963702.101 [Micromodem](INFO): Nmea in: $SNTTA,0.023342,,,,175502.75*42

2021-08-14T17:55:04.527Z,1628963704.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:04.889Z,1628963704.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:04.890Z,1628963704.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:04.890Z,1628963704.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:04.891Z,1628963704.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:05.265Z,1628963705.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,002B4,186,80,80,5B,FF
2021-08-14T17:55:05.265Z,1628963705.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:05.265Z,1628963705.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:05.267Z,1628963705.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:05.709Z,1628963705.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:06.088Z,1628963706.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,002B4,186,80,80,52,FF
2021-08-14T17:55:06.090Z,1628963706.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:06.513Z,1628963706.513 [Micromodem](INFO): Nmea in: $SNTTA,0.021693,,,,175507.15*4A

2021-08-14T17:55:08.988Z,1628963708.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:09.337Z,1628963709.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:09.337Z,1628963709.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:09.337Z,1628963709.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:09.338Z,1628963709.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:09.742Z,1628963709.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,002B4,186,80,80,52,FF
2021-08-14T17:55:09.742Z,1628963709.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:09.743Z,1628963709.743 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:09.745Z,1628963709.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:10.177Z,1628963710.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:10.613Z,1628963710.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,002B5,186,80,80,6D,FF
2021-08-14T17:55:10.614Z,1628963710.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:10.981Z,1628963710.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175511.63*5D

2021-08-14T17:55:13.387Z,1628963713.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:13.777Z,1628963713.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:13.778Z,1628963713.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:13.778Z,1628963713.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:13.779Z,1628963713.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:14.186Z,1628963714.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,002B5,186,80,80,6D,FF
2021-08-14T17:55:14.186Z,1628963714.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:14.186Z,1628963714.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:14.188Z,1628963714.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:14.620Z,1628963714.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:14.989Z,1628963714.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,002B5,187,80,80,84,FF
2021-08-14T17:55:14.989Z,1628963714.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:17.851Z,1628963717.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:18.213Z,1628963718.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:18.213Z,1628963718.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:18.213Z,1628963718.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:18.214Z,1628963718.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:18.626Z,1628963718.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,002B5,187,80,80,84,FF
2021-08-14T17:55:18.626Z,1628963718.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:18.626Z,1628963718.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:18.629Z,1628963718.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:19.029Z,1628963719.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:19.433Z,1628963719.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,002B5,186,80,80,72,FF
2021-08-14T17:55:19.434Z,1628963719.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:19.861Z,1628963719.861 [Micromodem](INFO): Nmea in: $SNTTA,0.002451,,,,175520.51*42

2021-08-14T17:55:22.298Z,1628963722.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:22.665Z,1628963722.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:22.665Z,1628963722.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:22.665Z,1628963722.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:22.666Z,1628963722.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:23.065Z,1628963723.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,002B5,186,80,80,72,FF
2021-08-14T17:55:23.065Z,1628963723.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:23.065Z,1628963723.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:23.067Z,1628963723.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:23.473Z,1628963723.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:23.877Z,1628963723.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED0,000,002B9,187,80,80,72,FF
2021-08-14T17:55:23.878Z,1628963723.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:24.309Z,1628963724.309 [Micromodem](INFO): Nmea in: $SNTTA,0.020003,,,,175524.95*4D

2021-08-14T17:55:26.701Z,1628963726.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:27.181Z,1628963727.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:27.181Z,1628963727.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:27.181Z,1628963727.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:27.182Z,1628963727.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:27.513Z,1628963727.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED0,000,002B9,187,80,80,72,FF
2021-08-14T17:55:27.514Z,1628963727.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:27.514Z,1628963727.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:27.518Z,1628963727.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:27.917Z,1628963727.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:28.321Z,1628963728.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,002B5,186,80,80,76,FF
2021-08-14T17:55:28.322Z,1628963728.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:28.757Z,1628963728.757 [Micromodem](INFO): Nmea in: $SNTTA,0.040466,,,,175529.40*49

2021-08-14T17:55:30.767Z,1628963730.767 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:55:31.179Z,1628963731.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:31.572Z,1628963731.572 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:31.573Z,1628963731.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:31.574Z,1628963731.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:31.575Z,1628963731.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:31.949Z,1628963731.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,002B5,186,80,80,76,FF
2021-08-14T17:55:31.949Z,1628963731.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:31.949Z,1628963731.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:31.951Z,1628963731.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:32.365Z,1628963732.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:32.761Z,1628963732.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,002B5,186,80,80,7F,FF
2021-08-14T17:55:32.762Z,1628963732.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:33.193Z,1628963733.193 [Micromodem](INFO): Nmea in: $SNTTA,0.002468,,,,175533.84*42

2021-08-14T17:55:35.641Z,1628963735.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:35.989Z,1628963735.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:35.990Z,1628963735.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:35.990Z,1628963735.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:35.991Z,1628963735.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:36.375Z,1628963736.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,002B5,186,80,80,7F,FF
2021-08-14T17:55:36.375Z,1628963736.375 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:36.375Z,1628963736.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:36.377Z,1628963736.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:36.782Z,1628963736.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:37.630Z,1628963737.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175538.27*56

2021-08-14T17:55:38.463Z,1628963738.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:40.045Z,1628963740.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,7F,FF
2021-08-14T17:55:40.045Z,1628963740.045 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,7F,FF
2021-08-14T17:55:40.045Z,1628963740.045 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:55:41.268Z,1628963741.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:41.653Z,1628963741.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:41.653Z,1628963741.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:41.653Z,1628963741.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:41.654Z,1628963741.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:42.057Z,1628963742.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,7F,FF
2021-08-14T17:55:42.057Z,1628963742.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:42.058Z,1628963742.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:42.059Z,1628963742.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:42.460Z,1628963742.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:42.869Z,1628963742.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,002B3,187,80,80,87,FF
2021-08-14T17:55:42.870Z,1628963742.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:43.297Z,1628963743.297 [Micromodem](INFO): Nmea in: $SNTTA,0.048407,,,,175543.95*42

2021-08-14T17:55:45.671Z,1628963745.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:55:45.682Z,1628963745.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:46.096Z,1628963746.096 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:46.097Z,1628963746.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:46.097Z,1628963746.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:46.098Z,1628963746.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:46.469Z,1628963746.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,002B3,187,80,80,87,FF
2021-08-14T17:55:46.469Z,1628963746.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:46.470Z,1628963746.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:46.471Z,1628963746.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:46.872Z,1628963746.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:47.381Z,1628963747.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,002B4,186,80,80,86,FF
2021-08-14T17:55:47.381Z,1628963747.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:47.741Z,1628963747.741 [Micromodem](INFO): Nmea in: $SNTTA,0.019429,,,,175548.36*48

2021-08-14T17:55:50.210Z,1628963750.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:50.581Z,1628963750.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:50.581Z,1628963750.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:50.581Z,1628963750.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:50.582Z,1628963750.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:50.611Z,1628963750.611 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:55:50.941Z,1628963750.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,002B4,186,80,80,86,FF
2021-08-14T17:55:50.941Z,1628963750.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:50.942Z,1628963750.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:50.943Z,1628963750.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:51.359Z,1628963751.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:51.749Z,1628963751.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,002B9,186,80,80,75,FF
2021-08-14T17:55:51.749Z,1628963751.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:52.205Z,1628963752.205 [Micromodem](INFO): Nmea in: $SNTTA,0.046730,,,,175552.83*4C

2021-08-14T17:55:54.654Z,1628963754.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:54.981Z,1628963754.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:54.981Z,1628963754.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:54.982Z,1628963754.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:54.983Z,1628963754.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:55.389Z,1628963755.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,002B9,186,80,80,75,FF
2021-08-14T17:55:55.390Z,1628963755.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:55.390Z,1628963755.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:55.392Z,1628963755.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:55:55.762Z,1628963755.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:55:55.781Z,1628963755.781 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:55:56.197Z,1628963756.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,002B5,187,80,80,84,FF
2021-08-14T17:55:56.198Z,1628963756.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:55:56.201Z,1628963756.201 [Micromodem](INFO): Nmea in: $SNTTA,0.251793,0.251787,,,175557.28*55

2021-08-14T17:55:59.035Z,1628963759.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:55:59.433Z,1628963759.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:55:59.433Z,1628963759.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:55:59.433Z,1628963759.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:55:59.434Z,1628963759.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:55:59.829Z,1628963759.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,002B5,187,80,80,84,FF
2021-08-14T17:55:59.829Z,1628963759.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:55:59.829Z,1628963759.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:55:59.831Z,1628963759.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:00.249Z,1628963760.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:00.637Z,1628963760.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,002B4,186,80,80,85,FF
2021-08-14T17:56:00.638Z,1628963760.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:01.114Z,1628963761.114 [Micromodem](INFO): Nmea in: $SNTTA,0.006337,,,,175601.72*40

2021-08-14T17:56:03.510Z,1628963763.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:03.877Z,1628963763.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:03.877Z,1628963763.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:03.877Z,1628963763.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:03.878Z,1628963763.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:04.286Z,1628963764.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,002B4,186,80,80,85,FF
2021-08-14T17:56:04.286Z,1628963764.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:04.287Z,1628963764.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:04.290Z,1628963764.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:04.681Z,1628963764.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:05.089Z,1628963765.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,002B4,186,80,80,8B,FF
2021-08-14T17:56:05.090Z,1628963765.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:05.509Z,1628963765.509 [Micromodem](INFO): Nmea in: $SNTTA,0.035126,,,,175606.18*49

2021-08-14T17:56:06.721Z,1628963766.721 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T17:56:07.616Z,1628963767.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:07.917Z,1628963767.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:07.917Z,1628963767.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:07.917Z,1628963767.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:07.918Z,1628963767.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:08.309Z,1628963768.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,002B4,186,80,80,8B,FF
2021-08-14T17:56:08.310Z,1628963768.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:08.310Z,1628963768.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:08.317Z,1628963768.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:08.718Z,1628963768.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:09.130Z,1628963769.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,002B4,186,80,80,77,FF
2021-08-14T17:56:09.131Z,1628963769.131 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:09.575Z,1628963769.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175610.20*58

2021-08-14T17:56:10.775Z,1628963770.775 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T17:56:11.974Z,1628963771.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:12.355Z,1628963772.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:12.355Z,1628963772.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:12.357Z,1628963772.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:12.358Z,1628963772.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:12.769Z,1628963772.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,002B4,186,80,80,77,FF
2021-08-14T17:56:12.769Z,1628963772.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:12.770Z,1628963772.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:12.771Z,1628963772.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:13.165Z,1628963773.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:13.581Z,1628963773.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,002B5,187,80,80,80,FF
2021-08-14T17:56:13.581Z,1628963773.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:14.019Z,1628963774.019 [Micromodem](INFO): Nmea in: $SNTTA,0.083418,,,,175614.66*46

2021-08-14T17:56:15.676Z,1628963775.676 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T17:56:16.458Z,1628963776.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:16.769Z,1628963776.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:16.770Z,1628963776.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:16.770Z,1628963776.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:16.771Z,1628963776.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:17.173Z,1628963777.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,002B5,187,80,80,80,FF
2021-08-14T17:56:17.173Z,1628963777.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:17.173Z,1628963777.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:17.175Z,1628963777.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:17.693Z,1628963777.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:18.015Z,1628963778.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,002B5,186,80,80,89,FF
2021-08-14T17:56:18.015Z,1628963778.015 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:18.427Z,1628963778.427 [Micromodem](INFO): Nmea in: $SNTTA,0.002444,0.361664,,,175619.06*53

2021-08-14T17:56:20.856Z,1628963780.856 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T17:56:20.856Z,1628963780.856 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T17:56:20.856Z,1628963780.856 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T17:56:20.894Z,1628963780.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:20.907Z,1628963780.907 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T17:56:21.241Z,1628963781.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:21.241Z,1628963781.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:21.241Z,1628963781.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:21.242Z,1628963781.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:21.320Z,1628963781.320 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T17:56:21.654Z,1628963781.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,002B5,186,80,80,89,FF
2021-08-14T17:56:21.654Z,1628963781.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:21.654Z,1628963781.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:21.656Z,1628963781.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:22.057Z,1628963782.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:22.206Z,1628963782.206 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T17:56:22.206Z,1628963782.206 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T17:56:22.453Z,1628963782.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,002B4,187,80,80,68,FF
2021-08-14T17:56:22.454Z,1628963782.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:22.889Z,1628963782.889 [Micromodem](INFO): Nmea in: $SNTTA,0.022952,,,,175623.54*4B

2021-08-14T17:56:25.320Z,1628963785.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:25.697Z,1628963785.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:25.697Z,1628963785.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:25.697Z,1628963785.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:25.698Z,1628963785.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:26.061Z,1628963786.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,002B4,187,80,80,68,FF
2021-08-14T17:56:26.061Z,1628963786.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:26.061Z,1628963786.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:26.063Z,1628963786.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:26.496Z,1628963786.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:26.865Z,1628963786.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,002B4,186,80,80,85,FF
2021-08-14T17:56:26.866Z,1628963786.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:27.300Z,1628963787.300 [Micromodem](INFO): Nmea in: $SNTTA,0.027040,,,,175627.95*4D

2021-08-14T17:56:29.739Z,1628963789.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:30.169Z,1628963790.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:30.169Z,1628963790.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:30.169Z,1628963790.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:30.170Z,1628963790.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:30.530Z,1628963790.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,002B4,186,80,80,85,FF
2021-08-14T17:56:30.530Z,1628963790.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:30.530Z,1628963790.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:30.531Z,1628963790.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:30.941Z,1628963790.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:31.339Z,1628963791.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,002B4,187,80,80,7E,FF
2021-08-14T17:56:31.339Z,1628963791.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:31.777Z,1628963791.777 [Micromodem](INFO): Nmea in: $SNTTA,0.084179,,,,175632.42*41

2021-08-14T17:56:34.221Z,1628963794.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:34.577Z,1628963794.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:34.577Z,1628963794.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:34.577Z,1628963794.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:34.578Z,1628963794.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:34.977Z,1628963794.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,002B4,187,80,80,7E,FF
2021-08-14T17:56:34.978Z,1628963794.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:34.978Z,1628963794.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:34.980Z,1628963794.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:35.393Z,1628963795.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:35.789Z,1628963795.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,002B5,186,80,80,90,FF
2021-08-14T17:56:35.789Z,1628963795.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:36.197Z,1628963796.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175636.87*51

2021-08-14T17:56:38.656Z,1628963798.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:39.017Z,1628963799.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:39.017Z,1628963799.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:39.017Z,1628963799.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:39.018Z,1628963799.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:39.425Z,1628963799.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,002B5,186,80,80,90,FF
2021-08-14T17:56:39.425Z,1628963799.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:39.425Z,1628963799.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:39.427Z,1628963799.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:39.829Z,1628963799.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:40.233Z,1628963800.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,002B6,189,80,80,5A,FF
2021-08-14T17:56:40.234Z,1628963800.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:40.705Z,1628963800.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175641.31*5C

2021-08-14T17:56:40.712Z,1628963800.712 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:56:43.071Z,1628963803.071 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T17:56:43.071Z,1628963803.071 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:56:43.071Z,1628963803.071 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T17:56:43.071Z,1628963803.071 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:56:43.071Z,1628963803.071 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T17:56:43.088Z,1628963803.088 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 
2021-08-14T17:56:43.088Z,1628963803.088 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T17:56:43.088Z,1628963803.088 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T17:56:43.089Z,1628963803.089 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T17:56:43.089Z,1628963803.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:43.465Z,1628963803.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:43.465Z,1628963803.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:43.465Z,1628963803.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:43.466Z,1628963803.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:43.525Z,1628963803.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T175643: (41.552319, -70.708603)
2021-08-14T17:56:43.525Z,1628963803.525 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T17:56:43.526Z,1628963803.526 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T17:56:43.881Z,1628963803.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,002B6,189,80,80,5A,FF
2021-08-14T17:56:43.881Z,1628963803.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:43.881Z,1628963803.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:43.883Z,1628963803.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:44.273Z,1628963804.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:44.677Z,1628963804.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,002B4,186,80,80,94,FF
2021-08-14T17:56:44.678Z,1628963804.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:45.097Z,1628963805.097 [Micromodem](INFO): Nmea in: $SNTTA,0.050127,,,,175645.77*45

2021-08-14T17:56:45.915Z,1628963805.915 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:56:47.486Z,1628963807.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:47.977Z,1628963807.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:47.977Z,1628963807.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:47.977Z,1628963807.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:47.978Z,1628963807.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:48.317Z,1628963808.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,002B4,186,80,80,94,FF
2021-08-14T17:56:48.318Z,1628963808.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:48.318Z,1628963808.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:48.319Z,1628963808.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:48.717Z,1628963808.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:49.117Z,1628963809.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,002B5,189,80,80,61,FF
2021-08-14T17:56:49.117Z,1628963809.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:49.554Z,1628963809.554 [Micromodem](INFO): Nmea in: $SNTTA,0.110069,,,,175650.21*4C

2021-08-14T17:56:50.749Z,1628963810.749 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T17:56:51.983Z,1628963811.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:52.361Z,1628963812.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:52.361Z,1628963812.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:52.361Z,1628963812.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:52.362Z,1628963812.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:52.765Z,1628963812.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,002B5,189,80,80,61,FF
2021-08-14T17:56:52.765Z,1628963812.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:52.765Z,1628963812.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:52.767Z,1628963812.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:53.169Z,1628963813.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:53.986Z,1628963813.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175654.65*59

2021-08-14T17:56:54.819Z,1628963814.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:56.372Z,1628963816.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,61,FF
2021-08-14T17:56:56.373Z,1628963816.373 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,61,FF
2021-08-14T17:56:56.373Z,1628963816.373 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:56:57.630Z,1628963817.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:56:58.088Z,1628963818.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:56:58.089Z,1628963818.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:56:58.090Z,1628963818.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:56:58.091Z,1628963818.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:56:58.417Z,1628963818.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,61,FF
2021-08-14T17:56:58.417Z,1628963818.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:56:58.417Z,1628963818.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:56:58.419Z,1628963818.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:56:58.826Z,1628963818.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:56:59.221Z,1628963819.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,002B5,187,80,80,8B,FF
2021-08-14T17:56:59.222Z,1628963819.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:56:59.681Z,1628963819.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175700.31*58

2021-08-14T17:57:00.851Z,1628963820.851 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:57:02.117Z,1628963822.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:02.453Z,1628963822.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:02.453Z,1628963822.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:02.453Z,1628963822.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:02.454Z,1628963822.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:02.854Z,1628963822.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,002B5,187,80,80,8B,FF
2021-08-14T17:57:02.855Z,1628963822.855 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:02.855Z,1628963822.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:02.857Z,1628963822.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:03.260Z,1628963823.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:03.670Z,1628963823.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,002B9,186,80,80,88,FF
2021-08-14T17:57:03.671Z,1628963823.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:04.126Z,1628963824.126 [Micromodem](INFO): Nmea in: $SNTTA,0.224606,,,,175704.74*47

2021-08-14T17:57:05.758Z,1628963825.758 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T17:57:06.499Z,1628963826.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:06.893Z,1628963826.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:06.893Z,1628963826.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:06.893Z,1628963826.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:06.894Z,1628963826.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:07.265Z,1628963827.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,002B9,186,80,80,88,FF
2021-08-14T17:57:07.265Z,1628963827.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:07.265Z,1628963827.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:07.267Z,1628963827.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:07.681Z,1628963827.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:08.205Z,1628963828.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F32,000,002B9,187,80,80,6F,FF
2021-08-14T17:57:08.206Z,1628963828.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:08.525Z,1628963828.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175709.15*57

2021-08-14T17:57:10.949Z,1628963830.949 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T17:57:10.982Z,1628963830.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:11.337Z,1628963831.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:11.337Z,1628963831.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:11.337Z,1628963831.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:11.338Z,1628963831.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:11.750Z,1628963831.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F32,000,002B9,187,80,80,6F,FF
2021-08-14T17:57:11.750Z,1628963831.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:11.750Z,1628963831.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:11.752Z,1628963831.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:11.876Z,1628963831.876 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T17:52:11.6Z
2021-08-14T17:57:11.876Z,1628963831.876 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T17:57:11.876Z,1628963831.876 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T17:57:11.876Z,1628963831.876 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T17:57:11.876Z,1628963831.876 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T17:57:12.141Z,1628963832.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:12.202Z,1628963832.202 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.319999 m .
2021-08-14T17:57:12.202Z,1628963832.202 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T17:57:12.202Z,1628963832.202 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T17:57:12.202Z,1628963832.202 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T17:57:12.203Z,1628963832.203 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:57:12.550Z,1628963832.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,002B5,186,80,80,7B,FF
2021-08-14T17:57:12.551Z,1628963832.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:12.977Z,1628963832.977 [Micromodem](INFO): Nmea in: $SNTTA,0.030468,,,,175713.64*4D

2021-08-14T17:57:12.979Z,1628963832.979 [PowerOnly](INFO): Powering up loadControl
2021-08-14T17:57:15.391Z,1628963835.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:15.785Z,1628963835.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:15.785Z,1628963835.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:15.785Z,1628963835.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:15.786Z,1628963835.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:15.806Z,1628963835.806 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T17:57:16.213Z,1628963836.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,002B5,186,80,80,7B,FF
2021-08-14T17:57:16.213Z,1628963836.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:16.213Z,1628963836.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:16.215Z,1628963836.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:16.351Z,1628963836.351 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T17:57:16.629Z,1628963836.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:16.686Z,1628963836.686 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T17:57:16.993Z,1628963836.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,002B5,187,80,80,97,FF
2021-08-14T17:57:16.994Z,1628963836.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:17.433Z,1628963837.433 [Micromodem](INFO): Nmea in: $SNTTA,0.002459,,,,175718.10*46

2021-08-14T17:57:19.858Z,1628963839.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:20.229Z,1628963840.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:20.229Z,1628963840.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:20.229Z,1628963840.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:20.230Z,1628963840.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:20.689Z,1628963840.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,002B5,187,80,80,97,FF
2021-08-14T17:57:20.689Z,1628963840.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:20.689Z,1628963840.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:20.691Z,1628963840.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:21.040Z,1628963841.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:21.442Z,1628963841.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,002B5,186,80,80,83,FF
2021-08-14T17:57:21.442Z,1628963841.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:21.856Z,1628963841.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175722.58*57

2021-08-14T17:57:24.316Z,1628963844.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:24.673Z,1628963844.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:24.674Z,1628963844.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:24.674Z,1628963844.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:24.675Z,1628963844.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:25.077Z,1628963845.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,002B5,186,80,80,83,FF
2021-08-14T17:57:25.077Z,1628963845.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:25.077Z,1628963845.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:25.079Z,1628963845.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:25.481Z,1628963845.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:25.879Z,1628963845.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002BC,187,80,80,BE,FF
2021-08-14T17:57:25.879Z,1628963845.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:26.338Z,1628963846.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175726.97*50

2021-08-14T17:57:26.742Z,1628963846.742 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T17:57:28.752Z,1628963848.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:29.121Z,1628963849.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:29.121Z,1628963849.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:29.121Z,1628963849.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:29.122Z,1628963849.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:29.523Z,1628963849.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002BC,187,80,80,BE,FF
2021-08-14T17:57:29.523Z,1628963849.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:29.523Z,1628963849.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:29.525Z,1628963849.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:29.924Z,1628963849.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:30.325Z,1628963850.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,002CD,186,80,80,B6,FF
2021-08-14T17:57:30.326Z,1628963850.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:30.757Z,1628963850.757 [Micromodem](INFO): Nmea in: $SNTTA,0.029591,,,,175731.41*45

2021-08-14T17:57:33.167Z,1628963853.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:33.558Z,1628963853.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:33.558Z,1628963853.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:33.558Z,1628963853.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:33.559Z,1628963853.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:33.970Z,1628963853.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,002CD,186,80,80,B6,FF
2021-08-14T17:57:33.970Z,1628963853.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:33.970Z,1628963853.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:33.972Z,1628963853.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:34.369Z,1628963854.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:34.769Z,1628963854.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,002DB,187,80,80,9E,FF
2021-08-14T17:57:34.769Z,1628963854.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:35.201Z,1628963855.201 [Micromodem](INFO): Nmea in: $SNTTA,0.041652,,,,175735.86*48

2021-08-14T17:57:37.654Z,1628963857.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:38.001Z,1628963858.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:38.001Z,1628963858.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:38.001Z,1628963858.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:38.002Z,1628963858.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:38.405Z,1628963858.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,002DB,187,80,80,9E,FF
2021-08-14T17:57:38.405Z,1628963858.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:38.405Z,1628963858.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:38.407Z,1628963858.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:38.813Z,1628963858.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:39.213Z,1628963859.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,002E4,187,80,80,A8,FF
2021-08-14T17:57:39.213Z,1628963859.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:39.673Z,1628963859.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175740.29*55

2021-08-14T17:57:42.108Z,1628963862.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:42.445Z,1628963862.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:42.445Z,1628963862.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:42.445Z,1628963862.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:42.446Z,1628963862.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:42.849Z,1628963862.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,002E4,187,80,80,A8,FF
2021-08-14T17:57:42.849Z,1628963862.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:42.849Z,1628963862.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:42.851Z,1628963862.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:43.265Z,1628963863.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:43.677Z,1628963863.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,002F3,184,80,80,98,FF
2021-08-14T17:57:43.677Z,1628963863.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:44.120Z,1628963864.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175744.74*59

2021-08-14T17:57:46.510Z,1628963866.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:46.908Z,1628963866.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:46.908Z,1628963866.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:46.908Z,1628963866.908 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:46.909Z,1628963866.909 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:47.293Z,1628963867.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,002F3,184,80,80,98,FF
2021-08-14T17:57:47.293Z,1628963867.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:47.293Z,1628963867.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:47.295Z,1628963867.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:47.705Z,1628963867.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:48.133Z,1628963868.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,002F6,183,80,80,A9,FF
2021-08-14T17:57:48.134Z,1628963868.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:48.542Z,1628963868.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175749.18*5E

2021-08-14T17:57:50.962Z,1628963870.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:51.333Z,1628963871.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:51.333Z,1628963871.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:51.333Z,1628963871.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:51.334Z,1628963871.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:51.757Z,1628963871.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,002F6,183,80,80,A9,FF
2021-08-14T17:57:51.757Z,1628963871.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:51.757Z,1628963871.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:51.759Z,1628963871.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:52.181Z,1628963872.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:52.554Z,1628963872.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,002FE,183,80,80,A2,FF
2021-08-14T17:57:52.555Z,1628963872.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:52.973Z,1628963872.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175753.65*5F

2021-08-14T17:57:55.399Z,1628963875.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:57:55.781Z,1628963875.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:57:55.781Z,1628963875.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:57:55.781Z,1628963875.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:57:55.782Z,1628963875.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:57:56.178Z,1628963876.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,002FE,183,80,80,A2,FF
2021-08-14T17:57:56.179Z,1628963876.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:57:56.179Z,1628963876.179 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:57:56.181Z,1628963876.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:57:56.634Z,1628963876.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:57:56.989Z,1628963876.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,038,000,00307,184,80,80,AF,FF
2021-08-14T17:57:56.990Z,1628963876.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:57:57.440Z,1628963877.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175758.07*50

2021-08-14T17:57:59.886Z,1628963879.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:00.221Z,1628963880.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:00.221Z,1628963880.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:00.221Z,1628963880.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:00.222Z,1628963880.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:00.679Z,1628963880.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
038,000,00307,184,80,80,AF,FF
2021-08-14T17:58:00.679Z,1628963880.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:00.684Z,1628963880.684 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:00.686Z,1628963880.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:01.040Z,1628963881.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:01.433Z,1628963881.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0030E,184,80,80,AE,FF
2021-08-14T17:58:01.434Z,1628963881.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:01.863Z,1628963881.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175802.57*55

2021-08-14T17:58:04.319Z,1628963884.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:04.673Z,1628963884.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:04.673Z,1628963884.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:04.673Z,1628963884.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:04.674Z,1628963884.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:05.069Z,1628963885.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,0030E,184,80,80,AE,FF
2021-08-14T17:58:05.069Z,1628963885.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:05.069Z,1628963885.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:05.071Z,1628963885.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:05.488Z,1628963885.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:05.877Z,1628963885.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,061,000,00311,186,80,80,BB,FF
2021-08-14T17:58:05.878Z,1628963885.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:06.318Z,1628963886.318 [Micromodem](INFO): Nmea in: $SNTTA,0.038701,,,,175806.96*4F

2021-08-14T17:58:08.738Z,1628963888.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:09.109Z,1628963889.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:09.109Z,1628963889.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:09.109Z,1628963889.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:09.110Z,1628963889.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:09.517Z,1628963889.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
061,000,00311,186,80,80,BB,FF
2021-08-14T17:58:09.517Z,1628963889.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:09.518Z,1628963889.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:09.519Z,1628963889.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:09.921Z,1628963889.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:10.321Z,1628963890.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00319,187,80,80,B4,FF
2021-08-14T17:58:10.322Z,1628963890.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:10.749Z,1628963890.749 [Micromodem](INFO): Nmea in: $SNTTA,0.035194,,,,175811.41*44

2021-08-14T17:58:10.797Z,1628963890.797 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T17:58:13.179Z,1628963893.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:13.553Z,1628963893.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:13.554Z,1628963893.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:13.554Z,1628963893.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:13.555Z,1628963893.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:13.957Z,1628963893.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00319,187,80,80,B4,FF
2021-08-14T17:58:13.957Z,1628963893.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:13.957Z,1628963893.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:13.959Z,1628963893.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:14.365Z,1628963894.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:14.769Z,1628963894.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00322,186,80,80,89,FF
2021-08-14T17:58:14.770Z,1628963894.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:15.205Z,1628963895.205 [Micromodem](INFO): Nmea in: $SNTTA,0.032079,,,,175815.85*4D

2021-08-14T17:58:17.667Z,1628963897.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:18.001Z,1628963898.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:18.001Z,1628963898.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:18.001Z,1628963898.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:18.002Z,1628963898.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:18.405Z,1628963898.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00322,186,80,80,89,FF
2021-08-14T17:58:18.406Z,1628963898.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:18.406Z,1628963898.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:18.408Z,1628963898.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:18.808Z,1628963898.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:19.213Z,1628963899.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00328,187,80,80,A1,FF
2021-08-14T17:58:19.214Z,1628963899.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:19.669Z,1628963899.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175820.30*54

2021-08-14T17:58:22.093Z,1628963902.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:22.445Z,1628963902.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:22.445Z,1628963902.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:22.445Z,1628963902.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:22.446Z,1628963902.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:22.845Z,1628963902.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00328,187,80,80,A1,FF
2021-08-14T17:58:22.845Z,1628963902.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:22.845Z,1628963902.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:22.847Z,1628963902.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:23.252Z,1628963903.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:23.669Z,1628963903.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,0032D,186,80,80,A8,FF
2021-08-14T17:58:23.669Z,1628963903.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:24.113Z,1628963904.113 [Micromodem](INFO): Nmea in: $SNTTA,0.051276,,,,175824.74*49

2021-08-14T17:58:26.515Z,1628963906.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:26.885Z,1628963906.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:26.885Z,1628963906.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:26.885Z,1628963906.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:26.886Z,1628963906.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:27.291Z,1628963907.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,0032D,186,80,80,A8,FF
2021-08-14T17:58:27.291Z,1628963907.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:27.292Z,1628963907.292 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:27.294Z,1628963907.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:27.705Z,1628963907.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:28.132Z,1628963908.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00331,186,80,80,B6,FF
2021-08-14T17:58:28.133Z,1628963908.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:28.535Z,1628963908.535 [Micromodem](INFO): Nmea in: $SNTTA,,0.299023,,,175829.18*4A

2021-08-14T17:58:30.958Z,1628963910.958 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 11.52 m. Transitioning DDM to standby.
2021-08-14T17:58:30.958Z,1628963910.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:31.333Z,1628963911.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:31.333Z,1628963911.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:31.333Z,1628963911.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:31.334Z,1628963911.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:31.737Z,1628963911.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00331,186,80,80,B6,FF
2021-08-14T17:58:31.737Z,1628963911.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:31.737Z,1628963911.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:31.739Z,1628963911.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:32.177Z,1628963912.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:32.546Z,1628963912.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,0034A,187,80,80,6D,FF
2021-08-14T17:58:32.546Z,1628963912.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:32.982Z,1628963912.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175833.63*50

2021-08-14T17:58:33.413Z,1628963913.413 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-14T17:58:33.793Z,1628963913.793 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T17:58:33.793Z,1628963913.793 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T17:58:33.794Z,1628963913.794 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-14T17:58:33.794Z,1628963913.794 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T17:58:33.794Z,1628963913.794 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T17:58:33.794Z,1628963913.794 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-14T17:58:33.794Z,1628963913.794 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T17:58:33.794Z,1628963913.794 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap] Stopped
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap] Running Loop=2
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T17:58:33.795Z,1628963913.795 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T17:58:34.212Z,1628963914.212 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T17:58:34.212Z,1628963914.212 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T17:58:34.213Z,1628963914.213 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T17:58:34.640Z,1628963914.640 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T17:58:34.640Z,1628963914.640 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T17:58:34.641Z,1628963914.641 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T17:58:34.642Z,1628963914.642 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T17:58:34.643Z,1628963914.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T17:58:34.649Z,1628963914.649 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T17:58:34.649Z,1628963914.649 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T17:58:34.977Z,1628963914.977 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T17:58:34.977Z,1628963914.977 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T17:58:35.368Z,1628963915.368 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T17:58:35.368Z,1628963915.368 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T17:58:35.369Z,1628963915.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:35.749Z,1628963915.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:35.749Z,1628963915.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:35.749Z,1628963915.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:35.750Z,1628963915.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:35.826Z,1628963915.826 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T17:58:35.826Z,1628963915.826 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T17:58:36.146Z,1628963916.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,0034A,187,80,80,6D,FF
2021-08-14T17:58:36.147Z,1628963916.147 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:36.147Z,1628963916.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:36.149Z,1628963916.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:36.294Z,1628963916.294 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T17:58:36.294Z,1628963916.294 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T17:58:36.294Z,1628963916.294 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T17:58:36.294Z,1628963916.294 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T17:58:36.295Z,1628963916.295 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T17:58:36.295Z,1628963916.295 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T17:58:36.295Z,1628963916.295 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T17:58:36.296Z,1628963916.296 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T17:58:36.296Z,1628963916.296 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T17:58:36.296Z,1628963916.296 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T17:58:36.297Z,1628963916.297 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T17:58:36.297Z,1628963916.297 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:58:36.298Z,1628963916.298 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T17:58:36.298Z,1628963916.298 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:58:36.298Z,1628963916.298 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T17:58:36.298Z,1628963916.298 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T17:58:36.298Z,1628963916.298 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T17:58:36.298Z,1628963916.298 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T17:58:36.299Z,1628963916.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T17:58:36.304Z,1628963916.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T17:58:36.304Z,1628963916.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T17:58:36.304Z,1628963916.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T17:58:36.577Z,1628963916.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T17:58:36.644Z,1628963916.644 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T17:58:36.645Z,1628963916.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T17:58:36.953Z,1628963916.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,0033B,186,80,80,A7,FF
2021-08-14T17:58:36.954Z,1628963916.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:37.489Z,1628963917.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175838.04*5A

2021-08-14T17:58:39.474Z,1628963919.474 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T17:58:39.858Z,1628963919.858 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T17:58:39.865Z,1628963919.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:40.221Z,1628963920.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:40.221Z,1628963920.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:40.221Z,1628963920.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:40.222Z,1628963920.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:40.310Z,1628963920.310 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-14T17:58:40.649Z,1628963920.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,0033B,186,80,80,A7,FF
2021-08-14T17:58:40.649Z,1628963920.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:40.649Z,1628963920.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:40.651Z,1628963920.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:40.805Z,1628963920.805 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T17:58:41.033Z,1628963921.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:41.445Z,1628963921.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00356,186,80,80,AF,FF
2021-08-14T17:58:41.445Z,1628963921.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:41.860Z,1628963921.860 [Micromodem](INFO): Nmea in: $SNTTA,,0.035178,,,175842.54*44

2021-08-14T17:58:44.259Z,1628963924.259 [PowerOnly](INFO): Powering down loadControl
2021-08-14T17:58:44.293Z,1628963924.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:44.677Z,1628963924.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:44.677Z,1628963924.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:44.677Z,1628963924.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:44.678Z,1628963924.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:45.065Z,1628963925.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00356,186,80,80,AF,FF
2021-08-14T17:58:45.065Z,1628963925.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:45.065Z,1628963925.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:45.067Z,1628963925.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:45.485Z,1628963925.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:45.882Z,1628963925.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00348,186,80,80,BD,FF
2021-08-14T17:58:45.882Z,1628963925.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:46.317Z,1628963926.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175846.95*5B

2021-08-14T17:58:48.763Z,1628963928.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:49.109Z,1628963929.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:49.110Z,1628963929.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:49.110Z,1628963929.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:49.111Z,1628963929.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:49.517Z,1628963929.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00348,186,80,80,BD,FF
2021-08-14T17:58:49.518Z,1628963929.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:49.518Z,1628963929.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:49.521Z,1628963929.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:49.917Z,1628963929.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:50.330Z,1628963930.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,0035F,187,80,80,92,FF
2021-08-14T17:58:50.331Z,1628963930.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:50.785Z,1628963930.785 [Micromodem](INFO): Nmea in: $SNTTA,0.037093,,,,175851.41*44

2021-08-14T17:58:53.161Z,1628963933.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:53.565Z,1628963933.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:53.565Z,1628963933.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:53.565Z,1628963933.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:53.566Z,1628963933.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:53.949Z,1628963933.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,0035F,187,80,80,92,FF
2021-08-14T17:58:53.949Z,1628963933.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:53.950Z,1628963933.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:53.951Z,1628963933.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:54.370Z,1628963934.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:54.761Z,1628963934.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,00363,186,80,80,AE,FF
2021-08-14T17:58:54.762Z,1628963934.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:55.210Z,1628963935.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175855.84*59

2021-08-14T17:58:57.673Z,1628963937.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:58:57.993Z,1628963937.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:58:57.993Z,1628963937.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:58:57.994Z,1628963937.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:58:57.995Z,1628963937.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:58:58.406Z,1628963938.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,00363,186,80,80,AE,FF
2021-08-14T17:58:58.407Z,1628963938.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:58:58.407Z,1628963938.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:58:58.409Z,1628963938.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:58:58.805Z,1628963938.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:58:59.205Z,1628963939.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00355,187,80,80,71,FF
2021-08-14T17:58:59.205Z,1628963939.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:58:59.661Z,1628963939.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175900.30*57

2021-08-14T17:59:00.866Z,1628963940.866 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 13.68 m. Transitioning DDM to standby.
2021-08-14T17:59:02.117Z,1628963942.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:02.445Z,1628963942.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:02.445Z,1628963942.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:02.445Z,1628963942.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:02.446Z,1628963942.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:02.846Z,1628963942.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,00355,187,80,80,71,FF
2021-08-14T17:59:02.846Z,1628963942.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:02.846Z,1628963942.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:02.848Z,1628963942.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:03.273Z,1628963943.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:03.305Z,1628963943.305 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T17:59:03.681Z,1628963943.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,0037C,184,80,80,65,FF
2021-08-14T17:59:03.681Z,1628963943.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:03.706Z,1628963943.706 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T17:59:03.706Z,1628963943.706 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T17:59:03.706Z,1628963943.706 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T17:59:04.068Z,1628963944.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175904.74*53

2021-08-14T17:59:04.145Z,1628963944.145 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T17:59:04.146Z,1628963944.146 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T17:59:04.146Z,1628963944.146 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T17:59:04.525Z,1628963944.525 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T17:59:04.526Z,1628963944.526 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T17:59:04.526Z,1628963944.526 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T17:59:04.526Z,1628963944.526 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T17:59:04.526Z,1628963944.526 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T17:59:04.867Z,1628963944.867 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T17:59:04.867Z,1628963944.867 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:59:04.867Z,1628963944.867 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T17:59:04.867Z,1628963944.867 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:59:04.867Z,1628963944.867 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T17:59:04.867Z,1628963944.867 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T17:59:04.868Z,1628963944.868 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T17:59:04.868Z,1628963944.868 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T17:59:04.868Z,1628963944.868 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T17:59:04.869Z,1628963944.869 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T17:59:04.869Z,1628963944.869 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T17:59:04.869Z,1628963944.869 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T17:59:04.870Z,1628963944.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 16.019999 m 
2021-08-14T17:59:04.870Z,1628963944.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T17:59:04.870Z,1628963944.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T17:59:04.871Z,1628963944.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T17:59:04.871Z,1628963944.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T17:59:04.871Z,1628963944.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T17:59:04.871Z,1628963944.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T17:59:05.263Z,1628963945.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T17:59:05.264Z,1628963945.264 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T17:59:05.264Z,1628963945.264 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T17:59:05.264Z,1628963945.264 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T17:59:05.763Z,1628963945.763 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T17:59:05.763Z,1628963945.763 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T17:59:05.769Z,1628963945.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T17:59:05.770Z,1628963945.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:59:05.770Z,1628963945.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T17:59:05.771Z,1628963945.771 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T17:59:05.771Z,1628963945.771 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T17:59:05.771Z,1628963945.771 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T17:59:05.776Z,1628963945.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T17:59:05.776Z,1628963945.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T17:59:05.777Z,1628963945.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T17:59:05.778Z,1628963945.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T17:59:05.778Z,1628963945.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T17:59:05.778Z,1628963945.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T17:59:05.779Z,1628963945.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T17:59:05.779Z,1628963945.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T17:59:05.779Z,1628963945.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T17:59:05.785Z,1628963945.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T17:59:05.785Z,1628963945.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T17:59:05.785Z,1628963945.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T17:59:05.785Z,1628963945.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T17:59:05.786Z,1628963945.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T17:59:05.786Z,1628963945.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T17:59:05.792Z,1628963945.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T17:59:05.793Z,1628963945.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T17:59:05.793Z,1628963945.793 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T17:59:05.794Z,1628963945.794 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T17:59:06.131Z,1628963946.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T17:59:06.131Z,1628963946.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:59:06.131Z,1628963946.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T17:59:06.131Z,1628963946.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T17:59:06.138Z,1628963946.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 20.079281 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T17:59:06.138Z,1628963946.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.02 m.
2021-08-14T17:59:06.139Z,1628963946.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 20.079281deg and heading rate command to 0 deg/s.
2021-08-14T17:59:06.444Z,1628963946.444 [PowerOnly](INFO): Powering up loadControl
2021-08-14T17:59:06.506Z,1628963946.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:07.041Z,1628963947.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:07.041Z,1628963947.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:07.041Z,1628963947.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:07.042Z,1628963947.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:07.329Z,1628963947.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,0037C,184,80,80,65,FF
2021-08-14T17:59:07.329Z,1628963947.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:07.329Z,1628963947.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:07.331Z,1628963947.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:07.825Z,1628963947.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:08.214Z,1628963948.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0035C,187,80,80,8C,FF
2021-08-14T17:59:08.215Z,1628963948.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:08.304Z,1628963948.304 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:08.653Z,1628963948.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175909.22*5D

2021-08-14T17:59:08.698Z,1628963948.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 18.005647 deg, deltaT: 4.595391 s, approachRate: -0.417809 m/s, LOS rate: -0.451242 deg/s, posRepo size: 2
2021-08-14T17:59:08.698Z,1628963948.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.10 m.
2021-08-14T17:59:08.700Z,1628963948.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 18.005647 deg,
      approachRate: -0.417809 m/s,
      LOS rate: -0.451242 deg/s,
      cmd update: -1.804968 deg/s,
      cmd heading: 20.079281 deg,
      new cmd heading: 20.079281 deg.

2021-08-14T17:59:11.051Z,1628963951.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:11.421Z,1628963951.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:11.421Z,1628963951.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:11.421Z,1628963951.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:11.422Z,1628963951.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:11.821Z,1628963951.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0035C,187,80,80,8C,FF
2021-08-14T17:59:11.821Z,1628963951.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:11.822Z,1628963951.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:11.823Z,1628963951.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:12.233Z,1628963952.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:13.062Z,1628963953.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175913.71*50

2021-08-14T17:59:13.873Z,1628963953.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:15.457Z,1628963955.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,8C,FF
2021-08-14T17:59:15.457Z,1628963955.457 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,8C,FF
2021-08-14T17:59:15.457Z,1628963955.457 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T17:59:16.705Z,1628963956.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:17.073Z,1628963957.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:17.073Z,1628963957.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:17.073Z,1628963957.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:17.074Z,1628963957.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:17.489Z,1628963957.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,8C,FF
2021-08-14T17:59:17.489Z,1628963957.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:17.489Z,1628963957.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:17.491Z,1628963957.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:17.884Z,1628963957.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:18.285Z,1628963958.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0033B,184,80,80,BA,FF
2021-08-14T17:59:18.286Z,1628963958.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:18.349Z,1628963958.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:18.729Z,1628963958.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175919.38*57

2021-08-14T17:59:18.755Z,1628963958.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 15.377321 deg, deltaT: 10.045347 s, approachRate: -0.197106 m/s, LOS rate: -0.261646 deg/s, posRepo size: 3
2021-08-14T17:59:18.756Z,1628963958.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.12 m.
2021-08-14T17:59:18.758Z,1628963958.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 15.377321 deg,
      approachRate: -0.197106 m/s,
      LOS rate: -0.261646 deg/s,
      cmd update: -1.046585 deg/s,
      cmd heading: 1.932400 deg,
      new cmd heading: 1.193879 deg.

2021-08-14T17:59:21.139Z,1628963961.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:21.525Z,1628963961.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:21.525Z,1628963961.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:21.525Z,1628963961.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:21.526Z,1628963961.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:21.921Z,1628963961.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0033B,184,80,80,BA,FF
2021-08-14T17:59:21.921Z,1628963961.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:21.922Z,1628963961.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:21.923Z,1628963961.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:22.341Z,1628963962.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:22.725Z,1628963962.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7F,000,0031F,186,80,80,B4,FF
2021-08-14T17:59:22.726Z,1628963962.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:22.795Z,1628963962.795 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:23.174Z,1628963963.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175923.81*5C

2021-08-14T17:59:23.195Z,1628963963.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 16.124444 deg, deltaT: 4.445249 s, approachRate: -0.377932 m/s, LOS rate: 0.168072 deg/s, posRepo size: 4
2021-08-14T17:59:23.196Z,1628963963.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 10.44 m.
2021-08-14T17:59:23.196Z,1628963963.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 10.44 m.
2021-08-14T17:59:23.197Z,1628963963.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T17:59:23.199Z,1628963963.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 16.124444 deg,
      approachRate: -0.377932 m/s,
      LOS rate: 0.168072 deg/s,
      cmd update: 0.672290 deg/s,
      cmd heading: 357.279960 deg,
      new cmd heading: 356.857356 deg.

2021-08-14T17:59:25.638Z,1628963965.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:25.969Z,1628963965.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:25.969Z,1628963965.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:25.969Z,1628963965.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:25.970Z,1628963965.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:26.376Z,1628963966.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7F,000,0031F,186,80,80,B4,FF
2021-08-14T17:59:26.376Z,1628963966.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:26.377Z,1628963966.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:26.378Z,1628963966.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:26.819Z,1628963966.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:27.214Z,1628963967.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,002FC,187,80,80,A4,FF
2021-08-14T17:59:27.214Z,1628963967.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:27.266Z,1628963967.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:27.657Z,1628963967.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175928.27*5B

2021-08-14T17:59:27.683Z,1628963967.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.339999 m, bearing: 24.777730 deg, deltaT: 4.471829 s, approachRate: -0.469606 m/s, LOS rate: 1.935066 deg/s, posRepo size: 4
2021-08-14T17:59:27.685Z,1628963967.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 24.777730 deg,
      approachRate: -0.469606 m/s,
      LOS rate: 1.935066 deg/s,
      cmd update: 7.740266 deg/s,
      cmd heading: 0.283559 deg,
      new cmd heading: 0.568332 deg.

2021-08-14T17:59:30.129Z,1628963970.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:30.457Z,1628963970.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:30.457Z,1628963970.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:30.457Z,1628963970.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:30.458Z,1628963970.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:30.845Z,1628963970.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,002FC,187,80,80,A4,FF
2021-08-14T17:59:30.845Z,1628963970.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:30.846Z,1628963970.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:30.847Z,1628963970.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:31.253Z,1628963971.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:31.673Z,1628963971.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9B,000,002E4,189,80,80,6F,FF
2021-08-14T17:59:31.673Z,1628963971.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:31.758Z,1628963971.758 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:32.133Z,1628963972.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 43.412423 deg, deltaT: 4.491178 s, approachRate: -0.320628 m/s, LOS rate: 4.149177 deg/s, posRepo size: 4
2021-08-14T17:59:32.135Z,1628963972.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 43.412423 deg,
      approachRate: -0.320628 m/s,
      LOS rate: 4.149177 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 34.994695 deg,
      new cmd heading: 38.008306 deg.

2021-08-14T17:59:34.542Z,1628963974.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:34.893Z,1628963974.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:34.893Z,1628963974.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:34.893Z,1628963974.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:34.894Z,1628963974.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:35.293Z,1628963975.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9B,000,002E4,189,80,80,6F,FF
2021-08-14T17:59:35.293Z,1628963975.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:35.293Z,1628963975.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:35.295Z,1628963975.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:35.701Z,1628963975.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:36.129Z,1628963976.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,002D6,186,80,80,7E,FF
2021-08-14T17:59:36.130Z,1628963976.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:36.191Z,1628963976.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:36.554Z,1628963976.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175937.19*58

2021-08-14T17:59:36.644Z,1628963976.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 354.443815 deg, deltaT: 4.437236 s, approachRate: -0.189307 m/s, LOS rate: -11.035833 deg/s, posRepo size: 4
2021-08-14T17:59:36.646Z,1628963976.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 354.443815 deg,
      approachRate: -0.189307 m/s,
      LOS rate: -11.035833 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 88.324941 deg,
      new cmd heading: 93.749841 deg.

2021-08-14T17:59:38.970Z,1628963978.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:39.337Z,1628963979.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:39.337Z,1628963979.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:39.337Z,1628963979.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:39.338Z,1628963979.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:39.737Z,1628963979.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,002D6,186,80,80,7E,FF
2021-08-14T17:59:39.737Z,1628963979.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:39.737Z,1628963979.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:39.739Z,1628963979.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:40.173Z,1628963980.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:40.550Z,1628963980.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,002DB,186,80,80,82,FF
2021-08-14T17:59:40.551Z,1628963980.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:40.639Z,1628963980.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:40.985Z,1628963980.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175941.63*54

2021-08-14T17:59:41.024Z,1628963981.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 47.333057 deg, deltaT: 4.444165 s, approachRate: 0.067504 m/s, LOS rate: 11.900825 deg/s, posRepo size: 4
2021-08-14T17:59:41.025Z,1628963981.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.900825 deg/s. Setting heading cmd to target bearing of 47.333057deg and heading rate command to 0 deg/s.
2021-08-14T17:59:43.406Z,1628963983.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:43.781Z,1628963983.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:43.781Z,1628963983.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:43.781Z,1628963983.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:43.782Z,1628963983.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:44.186Z,1628963984.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,002DB,186,80,80,82,FF
2021-08-14T17:59:44.186Z,1628963984.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:44.186Z,1628963984.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:44.188Z,1628963984.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:44.629Z,1628963984.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:44.989Z,1628963984.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00305,186,80,80,9A,FF
2021-08-14T17:59:44.990Z,1628963984.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:45.010Z,1628963985.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:45.434Z,1628963985.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175946.08*5E

2021-08-14T17:59:45.450Z,1628963985.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 62.677941 deg, deltaT: 4.370535 s, approachRate: 0.576589 m/s, LOS rate: 3.510985 deg/s, posRepo size: 4
2021-08-14T17:59:45.452Z,1628963985.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 62.677941 deg,
      approachRate: 0.576589 m/s,
      LOS rate: 3.510985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 47.333057 deg,
      new cmd heading: 47.333057 deg.

2021-08-14T17:59:47.846Z,1628963987.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:48.229Z,1628963988.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:48.229Z,1628963988.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:48.229Z,1628963988.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:48.230Z,1628963988.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:48.669Z,1628963988.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00305,186,80,80,9A,FF
2021-08-14T17:59:48.669Z,1628963988.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:48.669Z,1628963988.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:48.671Z,1628963988.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:49.037Z,1628963989.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:49.433Z,1628963989.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,0031B,187,80,80,66,FF
2021-08-14T17:59:49.433Z,1628963989.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:49.522Z,1628963989.522 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:49.863Z,1628963989.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175950.56*52

2021-08-14T17:59:49.905Z,1628963989.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 64.848992 deg, deltaT: 4.512858 s, approachRate: 0.292498 m/s, LOS rate: 0.481081 deg/s, posRepo size: 4
2021-08-14T17:59:49.906Z,1628963989.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 64.848992 deg,
      approachRate: 0.292498 m/s,
      LOS rate: 0.481081 deg/s,
      cmd update: 1.924324 deg/s,
      cmd heading: 101.486899 deg,
      new cmd heading: 106.106635 deg.

2021-08-14T17:59:52.323Z,1628963992.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:52.685Z,1628963992.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:52.685Z,1628963992.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:52.685Z,1628963992.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:52.686Z,1628963992.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:53.085Z,1628963993.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,0031B,187,80,80,66,FF
2021-08-14T17:59:53.085Z,1628963993.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:53.085Z,1628963993.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:53.087Z,1628963993.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:53.489Z,1628963993.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:53.898Z,1628963993.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00336,186,80,80,57,FF
2021-08-14T17:59:53.898Z,1628963993.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:53.928Z,1628963993.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:54.333Z,1628963994.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175954.98*54

2021-08-14T17:59:54.389Z,1628963994.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 80.242784 deg, deltaT: 4.405801 s, approachRate: 0.367697 m/s, LOS rate: 3.493982 deg/s, posRepo size: 4
2021-08-14T17:59:54.391Z,1628963994.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 80.242784 deg,
      approachRate: 0.367697 m/s,
      LOS rate: 3.493982 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 109.964657 deg,
      new cmd heading: 110.850150 deg.

2021-08-14T17:59:56.761Z,1628963996.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T17:59:57.144Z,1628963997.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T17:59:57.144Z,1628963997.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T17:59:57.144Z,1628963997.144 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T17:59:57.145Z,1628963997.145 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T17:59:57.525Z,1628963997.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00336,186,80,80,57,FF
2021-08-14T17:59:57.525Z,1628963997.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T17:59:57.525Z,1628963997.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T17:59:57.527Z,1628963997.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T17:59:57.940Z,1628963997.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T17:59:58.341Z,1628963998.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,0034F,186,80,80,76,FF
2021-08-14T17:59:58.342Z,1628963998.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T17:59:58.356Z,1628963998.356 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T17:59:58.401Z,1628963998.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T17:59:58.790Z,1628963998.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175959.42*5E

2021-08-14T17:59:58.816Z,1628963998.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 105.816562 deg, deltaT: 4.472669 s, approachRate: 0.335370 m/s, LOS rate: 5.717789 deg/s, posRepo size: 4
2021-08-14T17:59:58.816Z,1628963998.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.32 m. Rolling out.
2021-08-14T17:59:58.817Z,1628963998.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T18:00:01.211Z,1628964001.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:01.573Z,1628964001.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:01.573Z,1628964001.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:01.573Z,1628964001.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:01.574Z,1628964001.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:01.989Z,1628964001.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,0034F,186,80,80,76,FF
2021-08-14T18:00:01.989Z,1628964001.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:01.989Z,1628964001.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:01.992Z,1628964001.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:02.389Z,1628964002.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:02.790Z,1628964002.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00355,189,80,80,84,FF
2021-08-14T18:00:02.790Z,1628964002.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:02.855Z,1628964002.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:03.213Z,1628964003.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180003.88*54

2021-08-14T18:00:03.255Z,1628964003.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 133.769924 deg, deltaT: 4.453665 s, approachRate: 0.080833 m/s, LOS rate: 6.276485 deg/s, posRepo size: 4
2021-08-14T18:00:05.677Z,1628964005.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:06.019Z,1628964006.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:06.020Z,1628964006.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:06.020Z,1628964006.020 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:06.022Z,1628964006.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:06.417Z,1628964006.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00355,189,80,80,84,FF
2021-08-14T18:00:06.417Z,1628964006.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:06.417Z,1628964006.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:06.419Z,1628964006.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:06.844Z,1628964006.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:07.221Z,1628964007.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00366,185,80,80,AC,FF
2021-08-14T18:00:07.222Z,1628964007.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:07.242Z,1628964007.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:07.697Z,1628964007.697 [Micromodem](INFO): Nmea in: $SNTTA,0.017777,,,,180008.31*42

2021-08-14T18:00:07.735Z,1628964007.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 145.330306 deg, deltaT: 4.387924 s, approachRate: 0.232456 m/s, LOS rate: 2.634590 deg/s, posRepo size: 4
2021-08-14T18:00:10.147Z,1628964010.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:10.461Z,1628964010.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:10.461Z,1628964010.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:10.461Z,1628964010.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:10.462Z,1628964010.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:10.862Z,1628964010.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00366,185,80,80,AC,FF
2021-08-14T18:00:10.862Z,1628964010.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:10.862Z,1628964010.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:10.864Z,1628964010.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:11.264Z,1628964011.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:11.677Z,1628964011.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00374,188,80,80,9F,FF
2021-08-14T18:00:11.677Z,1628964011.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:11.772Z,1628964011.772 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:12.124Z,1628964012.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180012.75*56

2021-08-14T18:00:12.191Z,1628964012.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 168.857562 deg, deltaT: 4.529285 s, approachRate: 0.185460 m/s, LOS rate: 5.194475 deg/s, posRepo size: 4
2021-08-14T18:00:14.542Z,1628964014.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:14.905Z,1628964014.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:14.905Z,1628964014.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:14.905Z,1628964014.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:14.906Z,1628964014.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:15.301Z,1628964015.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00374,188,80,80,9F,FF
2021-08-14T18:00:15.301Z,1628964015.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:15.302Z,1628964015.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:15.303Z,1628964015.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:15.720Z,1628964015.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:16.157Z,1628964016.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3D,000,00387,186,80,80,79,FF
2021-08-14T18:00:16.158Z,1628964016.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:16.218Z,1628964016.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:16.554Z,1628964016.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180017.19*59

2021-08-14T18:00:16.653Z,1628964016.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 182.099387 deg, deltaT: 4.446449 s, approachRate: 0.256385 m/s, LOS rate: 2.978067 deg/s, posRepo size: 4
2021-08-14T18:00:18.990Z,1628964018.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:19.341Z,1628964019.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:19.341Z,1628964019.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:19.341Z,1628964019.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:19.342Z,1628964019.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:19.755Z,1628964019.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3D,000,00387,186,80,80,79,FF
2021-08-14T18:00:19.755Z,1628964019.755 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:19.756Z,1628964019.756 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:19.758Z,1628964019.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:20.183Z,1628964020.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:20.565Z,1628964020.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00391,186,80,80,6F,FF
2021-08-14T18:00:20.566Z,1628964020.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:20.570Z,1628964020.570 [Micromodem](INFO): Nmea in: $SNTTA,0.145814,0.127369,,,180021.65*52

2021-08-14T18:00:20.634Z,1628964020.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:21.006Z,1628964021.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 188.542768 deg, deltaT: 4.416250 s, approachRate: 0.135862 m/s, LOS rate: 1.459017 deg/s, posRepo size: 4
2021-08-14T18:00:23.410Z,1628964023.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:23.804Z,1628964023.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:23.805Z,1628964023.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:23.805Z,1628964023.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:23.806Z,1628964023.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:24.189Z,1628964024.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00391,186,80,80,6F,FF
2021-08-14T18:00:24.189Z,1628964024.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:24.189Z,1628964024.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:24.191Z,1628964024.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:24.626Z,1628964024.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:24.997Z,1628964024.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,0038E,186,80,80,84,FF
2021-08-14T18:00:24.998Z,1628964024.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:25.046Z,1628964025.046 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:25.438Z,1628964025.438 [Micromodem](INFO): Nmea in: $SNTTA,0.040868,,,,180026.08*47

2021-08-14T18:00:25.454Z,1628964025.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 192.650554 deg, deltaT: 4.411141 s, approachRate: -0.040805 m/s, LOS rate: 0.931230 deg/s, posRepo size: 4
2021-08-14T18:00:27.861Z,1628964027.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:28.229Z,1628964028.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:28.230Z,1628964028.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:28.230Z,1628964028.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:28.231Z,1628964028.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:28.657Z,1628964028.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,0038E,186,80,80,84,FF
2021-08-14T18:00:28.658Z,1628964028.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:28.658Z,1628964028.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:28.659Z,1628964028.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:29.164Z,1628964029.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:29.554Z,1628964029.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,003AB,186,80,80,5F,FF
2021-08-14T18:00:29.555Z,1628964029.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:29.665Z,1628964029.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:29.973Z,1628964029.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180030.57*56

2021-08-14T18:00:30.031Z,1628964030.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 187.059183 deg, deltaT: 4.619813 s, approachRate: 0.376638 m/s, LOS rate: -1.210302 deg/s, posRepo size: 4
2021-08-14T18:00:32.436Z,1628964032.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:32.799Z,1628964032.799 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:32.799Z,1628964032.799 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:32.799Z,1628964032.799 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:32.800Z,1628964032.800 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:33.192Z,1628964033.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,003AB,186,80,80,5F,FF
2021-08-14T18:00:33.193Z,1628964033.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:33.193Z,1628964033.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:33.195Z,1628964033.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:33.631Z,1628964033.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:33.993Z,1628964033.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,003BB,186,80,80,74,FF
2021-08-14T18:00:33.994Z,1628964033.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:34.016Z,1628964034.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:34.433Z,1628964034.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180035.09*58

2021-08-14T18:00:34.495Z,1628964034.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 177.690732 deg, deltaT: 4.350841 s, approachRate: 0.220646 m/s, LOS rate: -2.153251 deg/s, posRepo size: 4
2021-08-14T18:00:36.878Z,1628964036.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:37.225Z,1628964037.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:37.225Z,1628964037.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:37.225Z,1628964037.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:37.226Z,1628964037.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:37.662Z,1628964037.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,003BB,186,80,80,74,FF
2021-08-14T18:00:37.662Z,1628964037.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:37.662Z,1628964037.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:37.664Z,1628964037.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:38.127Z,1628964038.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:38.485Z,1628964038.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,003DE,189,80,80,69,FF
2021-08-14T18:00:38.486Z,1628964038.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:38.541Z,1628964038.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:38.930Z,1628964038.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180039.56*5E

2021-08-14T18:00:38.955Z,1628964038.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 200.815485 deg, deltaT: 4.525099 s, approachRate: 0.464079 m/s, LOS rate: 5.110331 deg/s, posRepo size: 4
2021-08-14T18:00:39.299Z,1628964039.299 [PowerOnly](INFO): Powering down loadControl
2021-08-14T18:00:41.327Z,1628964041.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:41.705Z,1628964041.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:41.705Z,1628964041.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:41.705Z,1628964041.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:41.706Z,1628964041.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:42.172Z,1628964042.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,003DE,189,80,80,69,FF
2021-08-14T18:00:42.173Z,1628964042.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:42.173Z,1628964042.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:42.174Z,1628964042.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:42.516Z,1628964042.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:42.934Z,1628964042.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,00405,187,80,80,65,FF
2021-08-14T18:00:42.935Z,1628964042.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:42.965Z,1628964042.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:43.381Z,1628964043.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 180.726642 deg, deltaT: 4.423886 s, approachRate: 0.528946 m/s, LOS rate: -4.540995 deg/s, posRepo size: 4
2021-08-14T18:00:43.733Z,1628964043.733 [Micromodem](INFO): Nmea in: $SNTTA,0.033118,,,,180044.06*47

2021-08-14T18:00:45.779Z,1628964045.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:46.174Z,1628964046.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:46.174Z,1628964046.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:46.174Z,1628964046.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:46.175Z,1628964046.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:46.561Z,1628964046.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,00405,187,80,80,65,FF
2021-08-14T18:00:46.562Z,1628964046.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:46.562Z,1628964046.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:46.565Z,1628964046.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:46.954Z,1628964046.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:47.357Z,1628964047.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00430,186,80,80,81,FF
2021-08-14T18:00:47.358Z,1628964047.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:47.406Z,1628964047.406 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:47.803Z,1628964047.803 [Micromodem](INFO): Nmea in: $SNTTA,0.044312,,,,180048.45*44

2021-08-14T18:00:47.829Z,1628964047.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 179.634617 deg, deltaT: 4.440738 s, approachRate: 0.580984 m/s, LOS rate: -0.245911 deg/s, posRepo size: 4
2021-08-14T18:00:50.256Z,1628964050.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:50.625Z,1628964050.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:50.625Z,1628964050.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:50.625Z,1628964050.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:50.626Z,1628964050.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:51.003Z,1628964051.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00430,186,80,80,81,FF
2021-08-14T18:00:51.003Z,1628964051.003 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:51.003Z,1628964051.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:51.005Z,1628964051.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:51.409Z,1628964051.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:51.799Z,1628964051.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00465,187,80,80,99,FF
2021-08-14T18:00:51.799Z,1628964051.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:51.877Z,1628964051.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:52.249Z,1628964052.249 [Micromodem](INFO): Nmea in: $SNTTA,,0.444149,,,180052.89*47

2021-08-14T18:00:52.309Z,1628964052.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 180.086093 deg, deltaT: 4.471172 s, approachRate: 0.711224 m/s, LOS rate: 0.100975 deg/s, posRepo size: 4
2021-08-14T18:00:54.700Z,1628964054.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:55.029Z,1628964055.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:55.029Z,1628964055.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:55.029Z,1628964055.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:55.030Z,1628964055.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:55.441Z,1628964055.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00465,187,80,80,99,FF
2021-08-14T18:00:55.441Z,1628964055.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:55.442Z,1628964055.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:55.443Z,1628964055.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:00:55.863Z,1628964055.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:00:56.247Z,1628964056.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00499,186,80,80,61,FF
2021-08-14T18:00:56.247Z,1628964056.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:00:56.323Z,1628964056.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:00:56.701Z,1628964056.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180057.33*55

2021-08-14T18:00:56.743Z,1628964056.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 182.146105 deg, deltaT: 4.446519 s, approachRate: 0.701672 m/s, LOS rate: 0.463287 deg/s, posRepo size: 4
2021-08-14T18:00:59.106Z,1628964059.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:00:59.473Z,1628964059.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:00:59.474Z,1628964059.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:00:59.474Z,1628964059.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:00:59.475Z,1628964059.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:00:59.885Z,1628964059.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00499,186,80,80,61,FF
2021-08-14T18:00:59.885Z,1628964059.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:00:59.886Z,1628964059.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:00:59.887Z,1628964059.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:00.287Z,1628964060.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:00.691Z,1628964060.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6F,000,004C8,186,80,80,6F,FF
2021-08-14T18:01:00.691Z,1628964060.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:00.769Z,1628964060.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:01:01.134Z,1628964061.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180101.78*58

2021-08-14T18:01:01.156Z,1628964061.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 177.012644 deg, deltaT: 4.445822 s, approachRate: 0.634303 m/s, LOS rate: -1.154671 deg/s, posRepo size: 4
2021-08-14T18:01:03.555Z,1628964063.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:03.929Z,1628964063.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:03.929Z,1628964063.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:03.929Z,1628964063.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:03.930Z,1628964063.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:04.333Z,1628964064.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6F,000,004C8,186,80,80,6F,FF
2021-08-14T18:01:04.333Z,1628964064.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:04.334Z,1628964064.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:04.335Z,1628964064.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:04.731Z,1628964064.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:05.135Z,1628964065.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BA,000,004F6,186,80,80,61,FF
2021-08-14T18:01:05.136Z,1628964065.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:05.155Z,1628964065.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:01:05.597Z,1628964065.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180106.23*51

2021-08-14T18:01:05.652Z,1628964065.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 147.751212 deg, deltaT: 4.386842 s, approachRate: 0.629154 m/s, LOS rate: -6.670273 deg/s, posRepo size: 4
2021-08-14T18:01:08.018Z,1628964068.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:08.365Z,1628964068.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:08.365Z,1628964068.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:08.365Z,1628964068.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:08.366Z,1628964068.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:08.766Z,1628964068.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BA,000,004F6,186,80,80,61,FF
2021-08-14T18:01:08.766Z,1628964068.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:08.766Z,1628964068.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:08.768Z,1628964068.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:09.173Z,1628964069.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:09.589Z,1628964069.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,00529,186,80,80,5E,FF
2021-08-14T18:01:09.591Z,1628964069.591 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:09.682Z,1628964069.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:01:10.037Z,1628964070.037 [Micromodem](INFO): Nmea in: $SNTTA,0.039426,,,,180110.66*43

2021-08-14T18:01:10.057Z,1628964070.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 152.885411 deg, deltaT: 4.525754 s, approachRate: 0.676131 m/s, LOS rate: 1.134441 deg/s, posRepo size: 4
2021-08-14T18:01:10.465Z,1628964070.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:01:10.465Z,1628964070.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:01:10.466Z,1628964070.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:01:10.474Z,1628964070.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:01:10.474Z,1628964070.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:01:10.474Z,1628964070.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:01:10.868Z,1628964070.868 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:01:10.869Z,1628964070.869 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:01:10.869Z,1628964070.869 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:01:10.869Z,1628964070.869 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:01:12.460Z,1628964072.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:12.805Z,1628964072.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:12.806Z,1628964072.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:12.806Z,1628964072.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:12.807Z,1628964072.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:13.221Z,1628964073.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,00529,186,80,80,5E,FF
2021-08-14T18:01:13.221Z,1628964073.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:13.221Z,1628964073.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:13.223Z,1628964073.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:13.656Z,1628964073.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:14.029Z,1628964074.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,0055E,187,80,80,6F,FF
2021-08-14T18:01:14.029Z,1628964074.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:14.469Z,1628964074.469 [Micromodem](INFO): Nmea in: $SNTTA,0.334125,0.333813,,,180115.11*59

2021-08-14T18:01:14.504Z,1628964074.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 159.901695 deg, deltaT: 4.454837 s, approachRate: 0.713832 m/s, LOS rate: 1.574981 deg/s, posRepo size: 4
2021-08-14T18:01:15.687Z,1628964075.687 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:01:16.896Z,1628964076.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:17.249Z,1628964077.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:17.250Z,1628964077.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:17.250Z,1628964077.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:17.251Z,1628964077.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:17.675Z,1628964077.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,0055E,187,80,80,6F,FF
2021-08-14T18:01:17.675Z,1628964077.675 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:17.675Z,1628964077.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:17.677Z,1628964077.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:18.069Z,1628964078.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:18.462Z,1628964078.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00593,186,80,80,7C,FF
2021-08-14T18:01:18.462Z,1628964078.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:18.465Z,1628964078.465 [Micromodem](INFO): Nmea in: $SNTTA,0.146451,0.145589,,,180119.57*5B

2021-08-14T18:01:18.907Z,1628964078.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 179.107299 deg, deltaT: 4.409670 s, approachRate: 0.721142 m/s, LOS rate: 4.355338 deg/s, posRepo size: 4
2021-08-14T18:01:21.315Z,1628964081.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:21.709Z,1628964081.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:21.709Z,1628964081.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:21.709Z,1628964081.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:21.710Z,1628964081.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:22.142Z,1628964082.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00593,186,80,80,7C,FF
2021-08-14T18:01:22.142Z,1628964082.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:22.142Z,1628964082.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:22.144Z,1628964082.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:22.527Z,1628964082.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:23.330Z,1628964083.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180124.03*53

2021-08-14T18:01:24.211Z,1628964084.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:25.745Z,1628964085.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:25.745Z,1628964085.745 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:25.745Z,1628964085.745 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:01:26.985Z,1628964086.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:27.361Z,1628964087.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:27.361Z,1628964087.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:27.361Z,1628964087.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:27.362Z,1628964087.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:27.758Z,1628964087.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:27.758Z,1628964087.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:27.758Z,1628964087.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:27.760Z,1628964087.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:28.184Z,1628964088.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:28.998Z,1628964088.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180129.65*5E

2021-08-14T18:01:29.829Z,1628964089.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:31.406Z,1628964091.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:31.406Z,1628964091.406 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:31.407Z,1628964091.407 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:01:32.659Z,1628964092.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:33.011Z,1628964093.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:33.011Z,1628964093.011 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:33.011Z,1628964093.011 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:33.012Z,1628964093.012 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:33.414Z,1628964093.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:33.414Z,1628964093.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:33.414Z,1628964093.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:33.416Z,1628964093.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:33.835Z,1628964093.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:34.677Z,1628964094.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180135.31*52

2021-08-14T18:01:35.481Z,1628964095.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:37.074Z,1628964097.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:37.074Z,1628964097.074 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:37.074Z,1628964097.074 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:01:38.309Z,1628964098.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:38.669Z,1628964098.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:38.669Z,1628964098.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:38.670Z,1628964098.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:38.670Z,1628964098.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:39.089Z,1628964099.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:39.089Z,1628964099.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:39.089Z,1628964099.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:39.091Z,1628964099.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:39.474Z,1628964099.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:40.298Z,1628964100.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180140.98*53

2021-08-14T18:01:41.111Z,1628964101.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:42.705Z,1628964102.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:42.705Z,1628964102.705 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:42.705Z,1628964102.705 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:01:43.974Z,1628964103.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:44.317Z,1628964104.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:44.317Z,1628964104.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:44.317Z,1628964104.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:44.318Z,1628964104.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:44.734Z,1628964104.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:44.734Z,1628964104.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:44.735Z,1628964104.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:44.768Z,1628964104.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:45.137Z,1628964105.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:46.342Z,1628964106.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180146.70*53

2021-08-14T18:01:46.784Z,1628964106.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:48.366Z,1628964108.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:48.366Z,1628964108.366 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:48.366Z,1628964108.366 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:01:49.635Z,1628964109.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:49.986Z,1628964109.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:49.986Z,1628964109.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:49.986Z,1628964109.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:49.987Z,1628964109.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:50.389Z,1628964110.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,7C,FF
2021-08-14T18:01:50.390Z,1628964110.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:50.390Z,1628964110.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:50.391Z,1628964110.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:50.793Z,1628964110.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:51.630Z,1628964111.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180152.28*5B

2021-08-14T18:01:52.410Z,1628964112.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,03A40,186,80,80,9A,FF
2021-08-14T18:01:52.410Z,1628964112.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:52.847Z,1628964112.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 857.220032 m, bearing: 178.438474 deg, deltaT: 33.926580 s, approachRate: 23.848558 m/s, LOS rate: -0.019714 deg/s, posRepo size: 4
2021-08-14T18:01:55.259Z,1628964115.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:01:55.671Z,1628964115.671 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:01:55.671Z,1628964115.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:01:55.671Z,1628964115.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:01:55.672Z,1628964115.672 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:01:56.037Z,1628964116.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,03A40,186,80,80,9A,FF
2021-08-14T18:01:56.037Z,1628964116.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:01:56.037Z,1628964116.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:01:56.039Z,1628964116.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:01:56.445Z,1628964116.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:01:56.845Z,1628964116.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,0075F,186,80,80,7E,FF
2021-08-14T18:01:56.846Z,1628964116.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:01:57.285Z,1628964117.285 [Micromodem](INFO): Nmea in: $SNTTA,0.057942,,,,180157.93*4D

2021-08-14T18:01:57.321Z,1628964117.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 185.805693 deg, deltaT: 4.444194 s, approachRate: -175.847412 m/s, LOS rate: 1.657718 deg/s, posRepo size: 4
2021-08-14T18:01:59.730Z,1628964119.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:00.105Z,1628964120.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:00.105Z,1628964120.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:00.106Z,1628964120.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:00.106Z,1628964120.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:00.481Z,1628964120.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,0075F,186,80,80,7E,FF
2021-08-14T18:02:00.481Z,1628964120.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:00.481Z,1628964120.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:00.483Z,1628964120.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:00.892Z,1628964120.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:01.289Z,1628964121.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00797,185,80,80,72,FF
2021-08-14T18:02:01.289Z,1628964121.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:01.736Z,1628964121.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180202.37*53

2021-08-14T18:02:01.762Z,1628964121.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.080002 m, bearing: 186.273971 deg, deltaT: 4.391587 s, approachRate: 0.765099 m/s, LOS rate: 0.106631 deg/s, posRepo size: 4
2021-08-14T18:02:04.237Z,1628964124.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:04.517Z,1628964124.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:04.517Z,1628964124.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:04.517Z,1628964124.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:04.518Z,1628964124.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:04.925Z,1628964124.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00797,185,80,80,72,FF
2021-08-14T18:02:04.925Z,1628964124.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:04.925Z,1628964124.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:04.927Z,1628964124.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:05.333Z,1628964125.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:05.733Z,1628964125.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,007CE,187,80,80,68,FF
2021-08-14T18:02:05.734Z,1628964125.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:06.185Z,1628964126.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180206.82*59

2021-08-14T18:02:06.250Z,1628964126.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.380005 m, bearing: 181.439973 deg, deltaT: 4.483115 s, approachRate: 0.736096 m/s, LOS rate: -1.078268 deg/s, posRepo size: 4
2021-08-14T18:02:08.636Z,1628964128.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:08.965Z,1628964128.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:08.965Z,1628964128.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:08.965Z,1628964128.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:08.966Z,1628964128.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:09.381Z,1628964129.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,007CE,187,80,80,68,FF
2021-08-14T18:02:09.381Z,1628964129.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:09.381Z,1628964129.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:09.383Z,1628964129.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:09.770Z,1628964129.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:10.186Z,1628964130.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00801,186,80,80,7D,FF
2021-08-14T18:02:10.187Z,1628964130.187 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:10.633Z,1628964130.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180211.28*5F

2021-08-14T18:02:10.671Z,1628964130.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.440002 m, bearing: 183.288755 deg, deltaT: 4.457910 s, approachRate: 0.686420 m/s, LOS rate: 0.414719 deg/s, posRepo size: 4
2021-08-14T18:02:13.023Z,1628964133.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:13.409Z,1628964133.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:13.409Z,1628964133.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:13.409Z,1628964133.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:13.410Z,1628964133.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:13.818Z,1628964133.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00801,186,80,80,7D,FF
2021-08-14T18:02:13.818Z,1628964133.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:13.818Z,1628964133.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:13.820Z,1628964133.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:14.220Z,1628964134.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:14.650Z,1628964134.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0083D,186,80,80,64,FF
2021-08-14T18:02:14.650Z,1628964134.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:15.073Z,1628964135.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180215.71*57

2021-08-14T18:02:15.109Z,1628964135.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.040009 m, bearing: 187.320178 deg, deltaT: 4.459639 s, approachRate: 0.807242 m/s, LOS rate: 0.903980 deg/s, posRepo size: 4
2021-08-14T18:02:17.467Z,1628964137.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:17.861Z,1628964137.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:17.862Z,1628964137.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:17.862Z,1628964137.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:17.863Z,1628964137.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:18.273Z,1628964138.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0083D,186,80,80,64,FF
2021-08-14T18:02:18.273Z,1628964138.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:18.273Z,1628964138.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:18.275Z,1628964138.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:18.685Z,1628964138.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:19.069Z,1628964139.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,00872,186,80,80,30,FF
2021-08-14T18:02:19.070Z,1628964139.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:19.501Z,1628964139.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180220.17*51

2021-08-14T18:02:19.558Z,1628964139.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 173.177302 deg, deltaT: 4.379941 s, approachRate: 0.726035 m/s, LOS rate: -3.229011 deg/s, posRepo size: 4
2021-08-14T18:02:21.947Z,1628964141.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:22.297Z,1628964142.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:22.297Z,1628964142.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:22.297Z,1628964142.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:22.298Z,1628964142.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:22.721Z,1628964142.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,00872,186,80,80,30,FF
2021-08-14T18:02:22.721Z,1628964142.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:22.721Z,1628964142.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:22.723Z,1628964142.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:23.115Z,1628964143.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:23.521Z,1628964143.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,008A1,186,80,80,91,FF
2021-08-14T18:02:23.522Z,1628964143.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:23.945Z,1628964143.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180224.62*57

2021-08-14T18:02:23.971Z,1628964143.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.040001 m, bearing: 181.757522 deg, deltaT: 4.537425 s, approachRate: 0.621498 m/s, LOS rate: 1.890989 deg/s, posRepo size: 4
2021-08-14T18:02:24.229Z,1628964144.229 [CTD_Seabird](ERROR): Failed to parse device response: 0,4.75890,4818.42
2021-08-14T18:02:26.394Z,1628964146.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:26.761Z,1628964146.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:26.761Z,1628964146.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:26.762Z,1628964146.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:26.762Z,1628964146.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:27.153Z,1628964147.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,008A1,186,80,80,91,FF
2021-08-14T18:02:27.153Z,1628964147.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:27.153Z,1628964147.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:27.155Z,1628964147.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:27.595Z,1628964147.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:27.969Z,1628964147.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,008DA,186,80,80,7F,FF
2021-08-14T18:02:27.970Z,1628964147.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:28.385Z,1628964148.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180229.05*5B

2021-08-14T18:02:28.435Z,1628964148.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.460007 m, bearing: 184.303735 deg, deltaT: 4.386255 s, approachRate: 0.779710 m/s, LOS rate: 0.580498 deg/s, posRepo size: 4
2021-08-14T18:02:30.951Z,1628964150.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:31.185Z,1628964151.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:31.185Z,1628964151.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:31.185Z,1628964151.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:31.186Z,1628964151.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:31.624Z,1628964151.624 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,008DA,186,80,80,7F,FF
2021-08-14T18:02:31.625Z,1628964151.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:31.625Z,1628964151.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:31.632Z,1628964151.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:31.996Z,1628964151.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:32.405Z,1628964152.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00910,186,80,80,8B,FF
2021-08-14T18:02:32.406Z,1628964152.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:32.831Z,1628964152.831 [Micromodem](INFO): Nmea in: $SNTTA,0.069741,,,,180233.53*40

2021-08-14T18:02:32.869Z,1628964152.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 178.319860 deg, deltaT: 4.486755 s, approachRate: 0.722123 m/s, LOS rate: -1.333675 deg/s, posRepo size: 4
2021-08-14T18:02:35.242Z,1628964155.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:35.679Z,1628964155.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:35.679Z,1628964155.679 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:35.679Z,1628964155.679 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:35.680Z,1628964155.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:36.037Z,1628964156.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00910,186,80,80,8B,FF
2021-08-14T18:02:36.038Z,1628964156.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:36.038Z,1628964156.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:36.043Z,1628964156.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:36.441Z,1628964156.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:36.841Z,1628964156.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00942,187,80,80,7D,FF
2021-08-14T18:02:36.842Z,1628964156.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:37.305Z,1628964157.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180237.94*5C

2021-08-14T18:02:37.330Z,1628964157.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.700005 m, bearing: 176.205179 deg, deltaT: 4.422474 s, approachRate: 0.678355 m/s, LOS rate: -0.478167 deg/s, posRepo size: 4
2021-08-14T18:02:39.713Z,1628964159.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:40.084Z,1628964160.084 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:40.085Z,1628964160.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:40.085Z,1628964160.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:40.087Z,1628964160.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:40.485Z,1628964160.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00942,187,80,80,7D,FF
2021-08-14T18:02:40.486Z,1628964160.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:40.486Z,1628964160.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:40.488Z,1628964160.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:41.008Z,1628964161.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:41.377Z,1628964161.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00975,186,80,80,83,FF
2021-08-14T18:02:41.378Z,1628964161.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:41.793Z,1628964161.793 [Micromodem](INFO): Nmea in: $SNTTA,0.088719,,,,180242.38*49

2021-08-14T18:02:41.821Z,1628964161.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 174.223277 deg, deltaT: 4.513972 s, approachRate: 0.677895 m/s, LOS rate: -0.439060 deg/s, posRepo size: 4
2021-08-14T18:02:44.247Z,1628964164.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:44.622Z,1628964164.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:44.622Z,1628964164.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:44.622Z,1628964164.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:44.623Z,1628964164.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:45.009Z,1628964165.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,00975,186,80,80,83,FF
2021-08-14T18:02:45.009Z,1628964165.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:45.009Z,1628964165.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:45.011Z,1628964165.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:45.421Z,1628964165.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:45.821Z,1628964165.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,009AF,184,80,80,A4,FF
2021-08-14T18:02:45.821Z,1628964165.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:46.282Z,1628964166.282 [Micromodem](INFO): Nmea in: $SNTTA,0.096229,,,,180246.91*47

2021-08-14T18:02:46.340Z,1628964166.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.240005 m, bearing: 169.239588 deg, deltaT: 4.462567 s, approachRate: 0.779821 m/s, LOS rate: -1.116776 deg/s, posRepo size: 4
2021-08-14T18:02:48.720Z,1628964168.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:49.045Z,1628964169.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:49.045Z,1628964169.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:49.045Z,1628964169.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:49.046Z,1628964169.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:49.453Z,1628964169.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,009AF,184,80,80,A4,FF
2021-08-14T18:02:49.453Z,1628964169.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:49.454Z,1628964169.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:49.455Z,1628964169.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:49.872Z,1628964169.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:50.265Z,1628964170.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,009E5,184,80,80,AC,FF
2021-08-14T18:02:50.265Z,1628964170.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:50.709Z,1628964170.709 [Micromodem](INFO): Nmea in: $SNTTA,0.078222,,,,180251.35*44

2021-08-14T18:02:50.735Z,1628964170.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.480003 m, bearing: 170.004023 deg, deltaT: 4.474812 s, approachRate: 0.724052 m/s, LOS rate: 0.170831 deg/s, posRepo size: 4
2021-08-14T18:02:53.121Z,1628964173.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:53.493Z,1628964173.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:53.493Z,1628964173.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:53.493Z,1628964173.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:53.494Z,1628964173.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:53.897Z,1628964173.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,009E5,184,80,80,AC,FF
2021-08-14T18:02:53.897Z,1628964173.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:53.897Z,1628964173.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:53.899Z,1628964173.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:54.321Z,1628964174.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:54.713Z,1628964174.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,00A1D,184,80,80,A3,FF
2021-08-14T18:02:54.714Z,1628964174.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:55.147Z,1628964175.147 [Micromodem](INFO): Nmea in: $SNTTA,0.080864,,,,180255.79*47

2021-08-14T18:02:55.163Z,1628964175.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 169.252812 deg, deltaT: 4.410927 s, approachRate: 0.761745 m/s, LOS rate: -0.170307 deg/s, posRepo size: 4
2021-08-14T18:02:57.605Z,1628964177.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:02:57.937Z,1628964177.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:02:57.937Z,1628964177.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:02:57.937Z,1628964177.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:02:57.938Z,1628964177.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:02:58.341Z,1628964178.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBC,000,00A1D,184,80,80,A3,FF
2021-08-14T18:02:58.341Z,1628964178.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:02:58.341Z,1628964178.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:02:58.343Z,1628964178.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:02:58.761Z,1628964178.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:02:59.161Z,1628964179.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00A53,184,80,80,B3,FF
2021-08-14T18:02:59.161Z,1628964179.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:02:59.620Z,1628964179.620 [Micromodem](INFO): Nmea in: $SNTTA,0.094183,,,,180300.24*4B

2021-08-14T18:02:59.650Z,1628964179.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.080002 m, bearing: 169.747836 deg, deltaT: 4.396345 s, approachRate: 0.736975 m/s, LOS rate: 0.112599 deg/s, posRepo size: 4
2021-08-14T18:03:01.999Z,1628964181.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:02.385Z,1628964182.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:02.385Z,1628964182.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:02.385Z,1628964182.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:02.386Z,1628964182.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:02.793Z,1628964182.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00A53,184,80,80,B3,FF
2021-08-14T18:03:02.794Z,1628964182.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:02.794Z,1628964182.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:02.795Z,1628964182.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:03.197Z,1628964183.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:03.621Z,1628964183.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,00A86,187,80,80,80,FF
2021-08-14T18:03:03.622Z,1628964183.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:03:04.033Z,1628964184.033 [Micromodem](INFO): Nmea in: $SNTTA,0.084684,,,,180304.69*47

2021-08-14T18:03:04.128Z,1628964184.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.139999 m, bearing: 171.974423 deg, deltaT: 4.508219 s, approachRate: 0.678760 m/s, LOS rate: 0.493895 deg/s, posRepo size: 4
2021-08-14T18:03:06.480Z,1628964186.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:06.825Z,1628964186.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:06.825Z,1628964186.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:06.825Z,1628964186.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:06.826Z,1628964186.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:07.233Z,1628964187.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,00A86,187,80,80,80,FF
2021-08-14T18:03:07.233Z,1628964187.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:07.233Z,1628964187.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:07.235Z,1628964187.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:07.660Z,1628964187.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:08.052Z,1628964188.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00ABE,184,80,80,8F,FF
2021-08-14T18:03:08.053Z,1628964188.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:03:08.499Z,1628964188.499 [Micromodem](INFO): Nmea in: $SNTTA,0.084502,,,,180309.13*4A

2021-08-14T18:03:08.566Z,1628964188.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.500000 m, bearing: 169.694137 deg, deltaT: 4.455983 s, approachRate: 0.754043 m/s, LOS rate: -0.511736 deg/s, posRepo size: 4
2021-08-14T18:03:10.908Z,1628964190.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:11.273Z,1628964191.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:11.273Z,1628964191.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:11.273Z,1628964191.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:11.274Z,1628964191.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:11.677Z,1628964191.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00ABE,184,80,80,8F,FF
2021-08-14T18:03:11.677Z,1628964191.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:11.677Z,1628964191.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:11.679Z,1628964191.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:12.120Z,1628964192.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:12.501Z,1628964192.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00AF3,184,80,80,88,FF
2021-08-14T18:03:12.501Z,1628964192.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:03:12.921Z,1628964192.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180313.57*54

2021-08-14T18:03:12.962Z,1628964192.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 171.271816 deg, deltaT: 4.420832 s, approachRate: 0.719323 m/s, LOS rate: 0.356874 deg/s, posRepo size: 4
2021-08-14T18:03:15.346Z,1628964195.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:15.721Z,1628964195.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:15.721Z,1628964195.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:15.721Z,1628964195.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:15.722Z,1628964195.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:16.157Z,1628964196.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00AF3,184,80,80,88,FF
2021-08-14T18:03:16.157Z,1628964196.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:16.157Z,1628964196.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:16.159Z,1628964196.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:16.550Z,1628964196.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:16.938Z,1628964196.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00B29,185,80,80,88,FF
2021-08-14T18:03:16.938Z,1628964196.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:03:17.357Z,1628964197.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180318.05*58

2021-08-14T18:03:17.387Z,1628964197.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.919998 m, bearing: 170.393139 deg, deltaT: 4.424785 s, approachRate: 0.732237 m/s, LOS rate: -0.198581 deg/s, posRepo size: 4
2021-08-14T18:03:19.794Z,1628964199.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:20.169Z,1628964200.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:20.169Z,1628964200.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:20.169Z,1628964200.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:20.170Z,1628964200.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:20.573Z,1628964200.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00B29,185,80,80,88,FF
2021-08-14T18:03:20.573Z,1628964200.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:20.573Z,1628964200.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:20.575Z,1628964200.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:20.000Z,1628964201.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:21.385Z,1628964201.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00B61,184,80,80,82,FF
2021-08-14T18:03:21.386Z,1628964201.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:03:21.817Z,1628964201.817 [Micromodem](INFO): Nmea in: $SNTTA,0.090984,,,,180322.47*45

2021-08-14T18:03:21.859Z,1628964201.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.279999 m, bearing: 170.716467 deg, deltaT: 4.459633 s, approachRate: 0.753425 m/s, LOS rate: 0.072501 deg/s, posRepo size: 4
2021-08-14T18:03:24.262Z,1628964204.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:24.625Z,1628964204.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:24.625Z,1628964204.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:24.625Z,1628964204.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:24.626Z,1628964204.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:25.017Z,1628964205.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00B61,184,80,80,82,FF
2021-08-14T18:03:25.017Z,1628964205.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:25.017Z,1628964205.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:25.019Z,1628964205.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:25.425Z,1628964205.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:26.246Z,1628964206.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180326.91*58

2021-08-14T18:03:27.062Z,1628964207.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:28.509Z,1628964208.509 [CTD_Seabird](ERROR): Failed to parse device response: 5.6183,4822.73
2021-08-14T18:03:28.673Z,1628964208.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,184,80,80,82,FF
2021-08-14T18:03:28.673Z,1628964208.673 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,184,80,80,82,FF
2021-08-14T18:03:28.673Z,1628964208.673 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:03:29.891Z,1628964209.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:30.277Z,1628964210.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:30.277Z,1628964210.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:30.277Z,1628964210.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:30.278Z,1628964210.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:30.673Z,1628964210.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,184,80,80,82,FF
2021-08-14T18:03:30.673Z,1628964210.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:30.673Z,1628964210.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:30.675Z,1628964210.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:31.084Z,1628964211.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:31.489Z,1628964211.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00BDF,184,80,80,6D,FF
2021-08-14T18:03:31.490Z,1628964211.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:03:31.917Z,1628964211.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180332.57*57

2021-08-14T18:03:31.974Z,1628964211.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.839996 m, bearing: 170.370435 deg, deltaT: 10.058749 s, approachRate: 0.751584 m/s, LOS rate: -0.034401 deg/s, posRepo size: 4
2021-08-14T18:03:34.364Z,1628964214.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:34.713Z,1628964214.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:34.713Z,1628964214.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:34.714Z,1628964214.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:34.714Z,1628964214.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:35.118Z,1628964215.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00BDF,184,80,80,6D,FF
2021-08-14T18:03:35.118Z,1628964215.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:35.119Z,1628964215.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:35.137Z,1628964215.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:35.516Z,1628964215.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:36.326Z,1628964216.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180337.03*53

2021-08-14T18:03:37.151Z,1628964217.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:38.754Z,1628964218.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:38.754Z,1628964218.754 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:38.754Z,1628964218.754 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:03:40.031Z,1628964220.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:40.361Z,1628964220.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:40.361Z,1628964220.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:40.361Z,1628964220.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:40.362Z,1628964220.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:40.778Z,1628964220.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:40.779Z,1628964220.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:40.779Z,1628964220.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:40.782Z,1628964220.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:41.173Z,1628964221.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:41.990Z,1628964221.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180342.68*5C

2021-08-14T18:03:42.836Z,1628964222.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:44.405Z,1628964224.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:44.405Z,1628964224.405 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:44.405Z,1628964224.405 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:03:45.829Z,1628964225.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:46.029Z,1628964226.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:46.030Z,1628964226.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:46.030Z,1628964226.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:46.031Z,1628964226.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:46.421Z,1628964226.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:46.421Z,1628964226.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:46.421Z,1628964226.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:46.423Z,1628964226.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:46.839Z,1628964226.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:47.674Z,1628964227.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180348.31*5A

2021-08-14T18:03:48.490Z,1628964228.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:50.077Z,1628964230.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:50.078Z,1628964230.078 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:50.079Z,1628964230.079 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:03:51.295Z,1628964231.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:51.681Z,1628964231.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:03:51.681Z,1628964231.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:03:51.681Z,1628964231.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:03:51.682Z,1628964231.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:03:52.094Z,1628964232.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,6D,FF
2021-08-14T18:03:52.095Z,1628964232.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:03:52.095Z,1628964232.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:03:52.103Z,1628964232.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:03:52.484Z,1628964232.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:03:52.893Z,1628964232.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,0063,E4
F,184,80,80,6D,FF
2021-08-14T18:03:52.894Z,1628964232.894 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,066,0063,E4
F,184,80,80,6D,FF
2021-08-14T18:03:53.306Z,1628964233.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180354.00*55

2021-08-14T18:03:54.187Z,1628964234.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:56.964Z,1628964236.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:03:57.748Z,1628964237.748 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065889
2021-08-14T18:03:59.782Z,1628964239.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:00.171Z,1628964240.171 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:00.171Z,1628964240.171 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:00.171Z,1628964240.171 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:00.172Z,1628964240.172 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:00.566Z,1628964240.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,0063,E4
F,184,80,80,6D,FF
2021-08-14T18:04:00.566Z,1628964240.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:00.567Z,1628964240.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:00.568Z,1628964240.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:00.997Z,1628964240.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:01.382Z,1628964241.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00D5E,184,80,80,6D,FF
2021-08-14T18:04:01.382Z,1628964241.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:01.813Z,1628964241.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180402.46*53

2021-08-14T18:04:01.868Z,1628964241.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.819992 m, bearing: 162.863101 deg, deltaT: 29.900949 s, approachRate: 0.768537 m/s, LOS rate: -0.251073 deg/s, posRepo size: 4
2021-08-14T18:04:04.255Z,1628964244.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:04.628Z,1628964244.628 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:04.628Z,1628964244.628 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:04.628Z,1628964244.628 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:04.629Z,1628964244.629 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:05.001Z,1628964245.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00D5E,184,80,80,6D,FF
2021-08-14T18:04:05.001Z,1628964245.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:05.001Z,1628964245.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:05.003Z,1628964245.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:05.418Z,1628964245.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:05.826Z,1628964245.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00D97,185,80,80,6D,FF
2021-08-14T18:04:05.826Z,1628964245.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:06.257Z,1628964246.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180406.90*5C

2021-08-14T18:04:06.325Z,1628964246.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.240005 m, bearing: 161.082403 deg, deltaT: 4.450099 s, approachRate: 0.768525 m/s, LOS rate: -0.400148 deg/s, posRepo size: 4
2021-08-14T18:04:08.713Z,1628964248.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:09.045Z,1628964249.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:09.045Z,1628964249.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:09.045Z,1628964249.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:09.046Z,1628964249.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:09.449Z,1628964249.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00D97,185,80,80,6D,FF
2021-08-14T18:04:09.449Z,1628964249.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:09.449Z,1628964249.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:09.451Z,1628964249.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:09.857Z,1628964249.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:10.686Z,1628964250.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180411.34*54

2021-08-14T18:04:11.501Z,1628964251.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:13.089Z,1628964253.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,6D,FF
2021-08-14T18:04:13.089Z,1628964253.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,6D,FF
2021-08-14T18:04:13.089Z,1628964253.089 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:04:14.342Z,1628964254.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:14.701Z,1628964254.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:14.701Z,1628964254.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:14.701Z,1628964254.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:14.702Z,1628964254.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:15.109Z,1628964255.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,6D,FF
2021-08-14T18:04:15.109Z,1628964255.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:15.109Z,1628964255.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:15.111Z,1628964255.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:15.516Z,1628964255.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:15.914Z,1628964255.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,80,80,63,E4
7,185,80,80,6D,FF
2021-08-14T18:04:15.914Z,1628964255.914 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
7,185,80,80,6D,FF
2021-08-14T18:04:16.346Z,1628964256.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180417.01*54

2021-08-14T18:04:17.143Z,1628964257.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:19.981Z,1628964259.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:20.788Z,1628964260.788 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.085942
2021-08-14T18:04:22.821Z,1628964262.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:23.205Z,1628964263.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:23.205Z,1628964263.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:23.205Z,1628964263.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:23.206Z,1628964263.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:23.608Z,1628964263.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,6D,FF
2021-08-14T18:04:23.609Z,1628964263.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:23.609Z,1628964263.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:23.633Z,1628964263.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:24.008Z,1628964264.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:24.823Z,1628964264.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00E73,184,80,80,71,FF
2021-08-14T18:04:24.840Z,1628964264.840 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:24.843Z,1628964264.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180425.53*52

2021-08-14T18:04:25.232Z,1628964265.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.440018 m, bearing: 162.665477 deg, deltaT: 19.034766 s, approachRate: 0.693469 m/s, LOS rate: 0.083167 deg/s, posRepo size: 4
2021-08-14T18:04:27.686Z,1628964267.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:28.049Z,1628964268.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:28.049Z,1628964268.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:28.049Z,1628964268.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:28.050Z,1628964268.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:28.437Z,1628964268.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00E73,184,80,80,71,FF
2021-08-14T18:04:28.437Z,1628964268.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:28.437Z,1628964268.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:28.439Z,1628964268.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:28.869Z,1628964268.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:29.681Z,1628964269.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00EAD,185,80,80,97,FF
2021-08-14T18:04:29.681Z,1628964269.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:29.684Z,1628964269.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180430.33*50

2021-08-14T18:04:30.133Z,1628964270.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 164.253946 deg, deltaT: 4.878901 s, approachRate: 0.713268 m/s, LOS rate: 0.325579 deg/s, posRepo size: 4
2021-08-14T18:04:32.537Z,1628964272.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:32.885Z,1628964272.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:32.886Z,1628964272.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:32.886Z,1628964272.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:32.887Z,1628964272.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:33.285Z,1628964273.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00EAD,185,80,80,97,FF
2021-08-14T18:04:33.285Z,1628964273.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:33.285Z,1628964273.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:33.287Z,1628964273.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:33.704Z,1628964273.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:34.122Z,1628964274.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00EAD,185,80,80,97,FF
2021-08-14T18:04:34.123Z,1628964274.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:34.542Z,1628964274.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180435.18*5C

2021-08-14T18:04:34.637Z,1628964274.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 163.819246 deg, deltaT: 4.424192 s, approachRate: 0.000000 m/s, LOS rate: -0.098255 deg/s, posRepo size: 4
2021-08-14T18:04:36.989Z,1628964276.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:37.329Z,1628964277.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:37.329Z,1628964277.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:37.330Z,1628964277.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:37.331Z,1628964277.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:37.729Z,1628964277.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00EAD,185,80,80,97,FF
2021-08-14T18:04:37.729Z,1628964277.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:37.729Z,1628964277.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:37.731Z,1628964277.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:38.171Z,1628964278.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:38.969Z,1628964278.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,00F1F,185,80,80,8A,FF
2021-08-14T18:04:38.969Z,1628964278.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:38.973Z,1628964278.973 [Micromodem](INFO): Nmea in: $SNTTA,0.304421,,,,180439.63*42

2021-08-14T18:04:39.386Z,1628964279.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.760010 m, bearing: 164.339679 deg, deltaT: 4.827580 s, approachRate: 1.416865 m/s, LOS rate: 0.107804 deg/s, posRepo size: 4
2021-08-14T18:04:41.835Z,1628964281.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:42.181Z,1628964282.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:42.181Z,1628964282.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:42.181Z,1628964282.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:42.182Z,1628964282.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:42.609Z,1628964282.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,00F1F,185,80,80,8A,FF
2021-08-14T18:04:42.609Z,1628964282.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:42.610Z,1628964282.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:42.620Z,1628964282.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:42.993Z,1628964282.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:43.787Z,1628964283.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00F5B,184,80,80,6F,FF
2021-08-14T18:04:43.788Z,1628964283.788 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:04:43.794Z,1628964283.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180444.51*57

2021-08-14T18:04:44.258Z,1628964284.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.360001 m, bearing: 162.033452 deg, deltaT: 4.853277 s, approachRate: 0.741765 m/s, LOS rate: -0.475190 deg/s, posRepo size: 4
2021-08-14T18:04:46.680Z,1628964286.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:47.021Z,1628964287.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:47.021Z,1628964287.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:47.021Z,1628964287.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:47.022Z,1628964287.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:47.434Z,1628964287.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00F5B,184,80,80,6F,FF
2021-08-14T18:04:47.434Z,1628964287.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:47.434Z,1628964287.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:47.436Z,1628964287.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:47.844Z,1628964287.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:48.670Z,1628964288.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180449.33*5E

2021-08-14T18:04:49.467Z,1628964289.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:51.081Z,1628964291.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:04:51.081Z,1628964291.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:04:51.081Z,1628964291.081 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:04:52.320Z,1628964292.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:52.677Z,1628964292.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:52.677Z,1628964292.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:52.677Z,1628964292.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:52.678Z,1628964292.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:53.081Z,1628964293.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:04:53.081Z,1628964293.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:53.081Z,1628964293.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:53.083Z,1628964293.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:53.496Z,1628964293.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:54.318Z,1628964294.318 [Micromodem](INFO): Nmea in: $SNTTA,0.139601,,,,180454.98*41

2021-08-14T18:04:55.127Z,1628964295.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:56.717Z,1628964296.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:04:56.717Z,1628964296.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:04:56.718Z,1628964296.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:04:57.973Z,1628964297.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:04:58.348Z,1628964298.348 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:04:58.348Z,1628964298.348 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:04:58.348Z,1628964298.348 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:04:58.349Z,1628964298.349 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:04:58.737Z,1628964298.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:04:58.737Z,1628964298.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:04:58.738Z,1628964298.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:04:58.739Z,1628964298.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:04:59.149Z,1628964299.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:04:59.978Z,1628964299.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180500.63*57

2021-08-14T18:05:00.789Z,1628964300.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:02.378Z,1628964302.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:02.378Z,1628964302.378 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:02.378Z,1628964302.378 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:05:03.646Z,1628964303.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:03.993Z,1628964303.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:03.994Z,1628964303.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:03.994Z,1628964303.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:03.995Z,1628964303.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:04.389Z,1628964304.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:04.389Z,1628964304.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:04.389Z,1628964304.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:04.391Z,1628964304.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:04.805Z,1628964304.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:05.670Z,1628964305.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180506.28*5E

2021-08-14T18:05:06.464Z,1628964306.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:08.033Z,1628964308.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:08.034Z,1628964308.034 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:08.034Z,1628964308.034 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:05:09.258Z,1628964309.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:09.657Z,1628964309.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:09.657Z,1628964309.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:09.657Z,1628964309.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:09.658Z,1628964309.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:10.049Z,1628964310.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:10.049Z,1628964310.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:10.049Z,1628964310.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:10.051Z,1628964310.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:10.464Z,1628964310.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:11.286Z,1628964311.286 [Micromodem](INFO): Nmea in: $SNTTA,0.154806,,,,180511.94*4F

2021-08-14T18:05:12.074Z,1628964312.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,048AB,184,80,80,6F,FF
2021-08-14T18:05:12.075Z,1628964312.075 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:12.541Z,1628964312.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1078.680054 m, bearing: 171.648500 deg, deltaT: 28.274099 s, approachRate: 31.135212 m/s, LOS rate: 0.340066 deg/s, posRepo size: 4
2021-08-14T18:05:14.939Z,1628964314.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:15.313Z,1628964315.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:15.313Z,1628964315.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:15.313Z,1628964315.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:15.314Z,1628964315.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:15.709Z,1628964315.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,048AB,184,80,80,6F,FF
2021-08-14T18:05:15.709Z,1628964315.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:15.710Z,1628964315.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:15.711Z,1628964315.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:16.172Z,1628964316.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:16.950Z,1628964316.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180517.61*53

2021-08-14T18:05:17.777Z,1628964317.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:19.361Z,1628964319.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:19.362Z,1628964319.362 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:19.362Z,1628964319.362 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:05:20.627Z,1628964320.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:20.961Z,1628964320.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:20.962Z,1628964320.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:20.962Z,1628964320.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:20.963Z,1628964320.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:21.361Z,1628964321.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,184,80,80,6F,FF
2021-08-14T18:05:21.361Z,1628964321.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:21.361Z,1628964321.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:21.363Z,1628964321.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:21.781Z,1628964321.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:22.186Z,1628964322.186 [Micromodem](INFO): Nmea in: $SNTTA,0.259839,0.259408,,,180523.26*59

2021-08-14T18:05:22.594Z,1628964322.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,01122,186,80,80,37,FF
2021-08-14T18:05:22.595Z,1628964322.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:23.009Z,1628964323.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.659988 m, bearing: 160.975565 deg, deltaT: 10.517755 s, approachRate: -81.102867 m/s, LOS rate: -1.014754 deg/s, posRepo size: 4
2021-08-14T18:05:25.434Z,1628964325.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:25.805Z,1628964325.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:25.806Z,1628964325.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:25.806Z,1628964325.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:25.807Z,1628964325.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:26.221Z,1628964326.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,01122,186,80,80,37,FF
2021-08-14T18:05:26.221Z,1628964326.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:26.221Z,1628964326.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:26.223Z,1628964326.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:26.279Z,1628964326.279 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T18:05:26.651Z,1628964326.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:27.450Z,1628964327.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,0115F,186,80,80,56,FF
2021-08-14T18:05:27.451Z,1628964327.451 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:27.455Z,1628964327.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180528.12*5B

2021-08-14T18:05:27.870Z,1628964327.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.319992 m, bearing: 159.113478 deg, deltaT: 4.846730 s, approachRate: 0.755149 m/s, LOS rate: -0.384195 deg/s, posRepo size: 4
2021-08-14T18:05:30.292Z,1628964330.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:30.663Z,1628964330.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:30.663Z,1628964330.663 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:30.663Z,1628964330.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:30.665Z,1628964330.665 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:31.076Z,1628964331.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,0115F,186,80,80,56,FF
2021-08-14T18:05:31.076Z,1628964331.076 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:31.076Z,1628964331.076 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:31.078Z,1628964331.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:31.475Z,1628964331.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:32.285Z,1628964332.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,0119C,186,80,80,4D,FF
2021-08-14T18:05:32.286Z,1628964332.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:32.293Z,1628964332.293 [Micromodem](INFO): Nmea in: $SNTTA,0.443657,,,,180532.97*44

2021-08-14T18:05:32.719Z,1628964332.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.979980 m, bearing: 157.272141 deg, deltaT: 4.875444 s, approachRate: 0.750699 m/s, LOS rate: -0.377676 deg/s, posRepo size: 4
2021-08-14T18:05:35.137Z,1628964335.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:35.509Z,1628964335.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:35.509Z,1628964335.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:35.510Z,1628964335.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:35.511Z,1628964335.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:35.905Z,1628964335.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,0119C,186,80,80,4D,FF
2021-08-14T18:05:35.905Z,1628964335.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:35.905Z,1628964335.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:35.907Z,1628964335.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:36.321Z,1628964336.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:36.337Z,1628964336.337 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:05:37.153Z,1628964337.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,011D4,186,80,80,4B,FF
2021-08-14T18:05:37.153Z,1628964337.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:37.156Z,1628964337.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180537.80*5E

2021-08-14T18:05:37.583Z,1628964337.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.339981 m, bearing: 154.255205 deg, deltaT: 4.787419 s, approachRate: 0.701840 m/s, LOS rate: -0.630180 deg/s, posRepo size: 4
2021-08-14T18:05:39.997Z,1628964339.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:40.353Z,1628964340.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:40.354Z,1628964340.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:40.354Z,1628964340.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:40.355Z,1628964340.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:40.750Z,1628964340.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,011D4,186,80,80,4B,FF
2021-08-14T18:05:40.750Z,1628964340.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:40.750Z,1628964340.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:40.752Z,1628964340.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:41.166Z,1628964341.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:41.989Z,1628964341.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,0121B,187,80,80,44,FF
2021-08-14T18:05:41.989Z,1628964341.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:41.992Z,1628964341.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180542.65*57

2021-08-14T18:05:42.429Z,1628964342.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.599976 m, bearing: 172.969842 deg, deltaT: 4.840409 s, approachRate: 0.880090 m/s, LOS rate: 3.866334 deg/s, posRepo size: 4
2021-08-14T18:05:44.829Z,1628964344.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:45.201Z,1628964345.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:45.201Z,1628964345.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:45.201Z,1628964345.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:45.202Z,1628964345.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:45.610Z,1628964345.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,0121B,187,80,80,44,FF
2021-08-14T18:05:45.611Z,1628964345.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:45.611Z,1628964345.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:45.617Z,1628964345.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:46.132Z,1628964346.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:46.173Z,1628964346.173 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T18:05:46.865Z,1628964346.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,0124A,186,80,80,50,FF
2021-08-14T18:05:46.866Z,1628964346.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:46.889Z,1628964346.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180547.51*55

2021-08-14T18:05:47.301Z,1628964347.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.419983 m, bearing: 155.571902 deg, deltaT: 4.937570 s, approachRate: 0.571133 m/s, LOS rate: -3.523583 deg/s, posRepo size: 4
2021-08-14T18:05:49.725Z,1628964349.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:50.129Z,1628964350.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:50.129Z,1628964350.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:50.129Z,1628964350.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:50.130Z,1628964350.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:50.525Z,1628964350.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,0124A,186,80,80,50,FF
2021-08-14T18:05:50.525Z,1628964350.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:50.525Z,1628964350.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:50.528Z,1628964350.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:50.928Z,1628964350.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:51.749Z,1628964351.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,01287,186,80,80,5A,FF
2021-08-14T18:05:51.750Z,1628964351.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:05:51.753Z,1628964351.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180552.42*53

2021-08-14T18:05:52.230Z,1628964352.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.080002 m, bearing: 151.492981 deg, deltaT: 4.875194 s, approachRate: 0.750743 m/s, LOS rate: -0.836668 deg/s, posRepo size: 4
2021-08-14T18:05:54.624Z,1628964354.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:54.967Z,1628964354.967 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:05:54.967Z,1628964354.967 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:05:54.967Z,1628964354.967 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:05:54.968Z,1628964354.968 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:05:55.365Z,1628964355.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,01287,186,80,80,5A,FF
2021-08-14T18:05:55.365Z,1628964355.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:05:55.365Z,1628964355.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:05:55.367Z,1628964355.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:05:55.772Z,1628964355.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:05:56.179Z,1628964356.179 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T18:05:56.610Z,1628964356.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180557.26*54

2021-08-14T18:05:57.419Z,1628964357.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:05:59.016Z,1628964359.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,5A,FF
2021-08-14T18:05:59.017Z,1628964359.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,5A,FF
2021-08-14T18:05:59.017Z,1628964359.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:06:00.254Z,1628964360.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:00.650Z,1628964360.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:00.650Z,1628964360.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:00.650Z,1628964360.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:00.651Z,1628964360.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:01.029Z,1628964361.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,5A,FF
2021-08-14T18:06:01.029Z,1628964361.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:01.029Z,1628964361.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:01.031Z,1628964361.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:01.428Z,1628964361.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:02.253Z,1628964362.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,01302,188,80,80,65,FF
2021-08-14T18:06:02.254Z,1628964362.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:02.256Z,1628964362.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180602.93*59

2021-08-14T18:06:02.698Z,1628964362.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.459991 m, bearing: 138.024244 deg, deltaT: 10.519385 s, approachRate: 0.701561 m/s, LOS rate: -1.280373 deg/s, posRepo size: 4
2021-08-14T18:06:05.086Z,1628964365.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:05.469Z,1628964365.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:05.469Z,1628964365.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:05.470Z,1628964365.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:05.471Z,1628964365.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:05.866Z,1628964365.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,01302,188,80,80,65,FF
2021-08-14T18:06:05.866Z,1628964365.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:05.866Z,1628964365.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:05.868Z,1628964365.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:06.285Z,1628964366.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:06.304Z,1628964366.304 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T18:06:07.081Z,1628964367.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,01341,188,80,80,6F,FF
2021-08-14T18:06:07.081Z,1628964367.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:07.520Z,1628964367.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.239990 m, bearing: 138.136177 deg, deltaT: 4.748376 s, approachRate: 0.796061 m/s, LOS rate: 0.023573 deg/s, posRepo size: 4
2021-08-14T18:06:09.943Z,1628964369.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:10.309Z,1628964370.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:10.309Z,1628964370.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:10.309Z,1628964370.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:10.310Z,1628964370.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:10.713Z,1628964370.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,01341,188,80,80,6F,FF
2021-08-14T18:06:10.713Z,1628964370.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:10.713Z,1628964370.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:10.715Z,1628964370.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:11.153Z,1628964371.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:11.942Z,1628964371.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,0137B,189,80,80,65,FF
2021-08-14T18:06:11.943Z,1628964371.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:11.946Z,1628964371.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180612.61*55

2021-08-14T18:06:12.396Z,1628964372.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.720001 m, bearing: 136.611624 deg, deltaT: 4.919135 s, approachRate: 0.707444 m/s, LOS rate: -0.309923 deg/s, posRepo size: 4
2021-08-14T18:06:14.809Z,1628964374.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:15.161Z,1628964375.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:15.161Z,1628964375.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:15.161Z,1628964375.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:15.162Z,1628964375.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:15.569Z,1628964375.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,0137B,189,80,80,65,FF
2021-08-14T18:06:15.569Z,1628964375.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:15.569Z,1628964375.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:15.571Z,1628964375.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:15.969Z,1628964375.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:16.395Z,1628964376.395 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T18:06:16.805Z,1628964376.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,013B7,189,80,80,67,FF
2021-08-14T18:06:16.806Z,1628964376.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:16.808Z,1628964376.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180617.47*54

2021-08-14T18:06:17.207Z,1628964377.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.319977 m, bearing: 136.704133 deg, deltaT: 4.821075 s, approachRate: 0.746716 m/s, LOS rate: 0.019188 deg/s, posRepo size: 4
2021-08-14T18:06:19.659Z,1628964379.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:20.005Z,1628964380.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:20.005Z,1628964380.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:20.005Z,1628964380.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:20.006Z,1628964380.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:20.424Z,1628964380.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,013B7,189,80,80,67,FF
2021-08-14T18:06:20.424Z,1628964380.424 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:20.424Z,1628964380.424 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:20.426Z,1628964380.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:20.817Z,1628964380.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:21.658Z,1628964381.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,013F2,187,80,80,70,FF
2021-08-14T18:06:21.659Z,1628964381.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:21.662Z,1628964381.662 [Micromodem](INFO): Nmea in: $SNTTA,0.181549,,,,180622.32*4E

2021-08-14T18:06:22.131Z,1628964382.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.859985 m, bearing: 138.183620 deg, deltaT: 4.891764 s, approachRate: 0.723667 m/s, LOS rate: 0.302445 deg/s, posRepo size: 4
2021-08-14T18:06:24.508Z,1628964384.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:24.861Z,1628964384.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:24.861Z,1628964384.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:24.861Z,1628964384.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:24.862Z,1628964384.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:25.282Z,1628964385.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,013F2,187,80,80,70,FF
2021-08-14T18:06:25.282Z,1628964385.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:25.282Z,1628964385.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:25.284Z,1628964385.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:25.728Z,1628964385.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:26.469Z,1628964386.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,0142E,189,80,80,79,FF
2021-08-14T18:06:26.469Z,1628964386.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:26.473Z,1628964386.473 [Micromodem](INFO): Nmea in: $SNTTA,0.341034,0.341084,,,180627.18*56

2021-08-14T18:06:26.523Z,1628964386.523 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:06:26.930Z,1628964386.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.459991 m, bearing: 137.851044 deg, deltaT: 4.833600 s, approachRate: 0.744788 m/s, LOS rate: -0.068805 deg/s, posRepo size: 4
2021-08-14T18:06:29.341Z,1628964389.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:29.701Z,1628964389.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:29.701Z,1628964389.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:29.701Z,1628964389.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:29.702Z,1628964389.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:30.148Z,1628964390.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,0142E,189,80,80,79,FF
2021-08-14T18:06:30.148Z,1628964390.148 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:30.148Z,1628964390.148 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:30.150Z,1628964390.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:30.521Z,1628964390.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:31.323Z,1628964391.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,01466,186,80,80,72,FF
2021-08-14T18:06:31.329Z,1628964391.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:31.339Z,1628964391.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180632.04*54

2021-08-14T18:06:31.785Z,1628964391.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.820007 m, bearing: 140.103668 deg, deltaT: 4.830751 s, approachRate: 0.695547 m/s, LOS rate: 0.466309 deg/s, posRepo size: 4
2021-08-14T18:06:34.249Z,1628964394.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:34.549Z,1628964394.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:34.550Z,1628964394.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:34.550Z,1628964394.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:34.551Z,1628964394.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:34.953Z,1628964394.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EE,000,01466,186,80,80,72,FF
2021-08-14T18:06:34.953Z,1628964394.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:34.953Z,1628964394.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:34.955Z,1628964394.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:35.379Z,1628964395.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:36.194Z,1628964396.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,014A2,189,80,80,66,FF
2021-08-14T18:06:36.195Z,1628964396.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:36.198Z,1628964396.198 [Micromodem](INFO): Nmea in: $SNTTA,0.188616,,,,180636.85*47

2021-08-14T18:06:36.244Z,1628964396.244 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T18:06:36.650Z,1628964396.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.419983 m, bearing: 137.195209 deg, deltaT: 4.883159 s, approachRate: 0.737223 m/s, LOS rate: -0.595610 deg/s, posRepo size: 4
2021-08-14T18:06:39.014Z,1628964399.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:39.409Z,1628964399.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:39.409Z,1628964399.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:39.409Z,1628964399.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:39.410Z,1628964399.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:39.805Z,1628964399.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,014A2,189,80,80,66,FF
2021-08-14T18:06:39.805Z,1628964399.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:39.806Z,1628964399.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:39.807Z,1628964399.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:40.210Z,1628964400.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:41.021Z,1628964401.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,014DC,186,80,80,6C,FF
2021-08-14T18:06:41.022Z,1628964401.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:41.460Z,1628964401.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.899994 m, bearing: 139.409898 deg, deltaT: 4.765283 s, approachRate: 0.730284 m/s, LOS rate: 0.464755 deg/s, posRepo size: 4
2021-08-14T18:06:43.877Z,1628964403.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:44.245Z,1628964404.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:44.245Z,1628964404.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:44.245Z,1628964404.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:44.246Z,1628964404.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:44.657Z,1628964404.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,014DC,186,80,80,6C,FF
2021-08-14T18:06:44.657Z,1628964404.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:44.658Z,1628964404.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:44.659Z,1628964404.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:45.061Z,1628964405.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:45.459Z,1628964405.459 [Micromodem](INFO): Nmea in: $SNTTA,0.192705,0.192486,,,180646.56*58

2021-08-14T18:06:45.869Z,1628964405.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,01517,187,80,80,70,FF
2021-08-14T18:06:45.869Z,1628964405.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:46.318Z,1628964406.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.439972 m, bearing: 141.016099 deg, deltaT: 4.874482 s, approachRate: 0.726227 m/s, LOS rate: 0.329512 deg/s, posRepo size: 4
2021-08-14T18:06:48.733Z,1628964408.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:49.097Z,1628964409.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:49.097Z,1628964409.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:49.097Z,1628964409.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:49.098Z,1628964409.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:49.502Z,1628964409.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,01517,187,80,80,70,FF
2021-08-14T18:06:49.502Z,1628964409.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:49.503Z,1628964409.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:49.504Z,1628964409.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:49.913Z,1628964409.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:50.729Z,1628964410.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,01552,187,80,80,71,FF
2021-08-14T18:06:50.729Z,1628964410.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:50.733Z,1628964410.733 [Micromodem](INFO): Nmea in: $SNTTA,0.195095,,,,180651.40*4E

2021-08-14T18:06:51.158Z,1628964411.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.979980 m, bearing: 138.519597 deg, deltaT: 4.840987 s, approachRate: 0.731258 m/s, LOS rate: -0.515701 deg/s, posRepo size: 4
2021-08-14T18:06:51.946Z,1628964411.946 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:06:53.567Z,1628964413.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:53.949Z,1628964413.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:53.949Z,1628964413.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:53.949Z,1628964413.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:53.950Z,1628964413.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:54.338Z,1628964414.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,01552,187,80,80,71,FF
2021-08-14T18:06:54.338Z,1628964414.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:54.339Z,1628964414.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:54.341Z,1628964414.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:54.757Z,1628964414.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:06:55.592Z,1628964415.592 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,0158C,188,80,80,73,FF
2021-08-14T18:06:55.594Z,1628964415.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:06:55.603Z,1628964415.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180656.24*54

2021-08-14T18:06:56.008Z,1628964416.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.459991 m, bearing: 136.886567 deg, deltaT: 4.931946 s, approachRate: 0.705606 m/s, LOS rate: -0.331113 deg/s, posRepo size: 4
2021-08-14T18:06:58.447Z,1628964418.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:06:58.789Z,1628964418.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:06:58.789Z,1628964418.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:06:58.789Z,1628964418.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:06:58.790Z,1628964418.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:06:59.201Z,1628964419.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,0158C,188,80,80,73,FF
2021-08-14T18:06:59.201Z,1628964419.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:06:59.201Z,1628964419.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:06:59.203Z,1628964419.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:06:59.627Z,1628964419.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:00.449Z,1628964420.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,015C6,188,80,80,76,FF
2021-08-14T18:07:00.449Z,1628964420.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:00.452Z,1628964420.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180701.10*50

2021-08-14T18:07:00.858Z,1628964420.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.939972 m, bearing: 138.029176 deg, deltaT: 4.796355 s, approachRate: 0.725547 m/s, LOS rate: 0.238224 deg/s, posRepo size: 4
2021-08-14T18:07:00.859Z,1628964420.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 296.94 m. Resuming terminal guidance.
2021-08-14T18:07:00.859Z,1628964420.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T18:07:03.257Z,1628964423.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:03.657Z,1628964423.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:03.657Z,1628964423.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:03.657Z,1628964423.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:03.658Z,1628964423.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:04.038Z,1628964424.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,015C6,188,80,80,76,FF
2021-08-14T18:07:04.039Z,1628964424.039 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:04.039Z,1628964424.039 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:04.041Z,1628964424.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:04.462Z,1628964424.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:05.277Z,1628964425.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,01600,188,80,80,74,FF
2021-08-14T18:07:05.277Z,1628964425.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:05.305Z,1628964425.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180705.94*58

2021-08-14T18:07:05.718Z,1628964425.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.419983 m, bearing: 136.536083 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T18:07:05.718Z,1628964425.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 136.536083deg and heading rate command to 0 deg/s.
2021-08-14T18:07:08.140Z,1628964428.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:08.489Z,1628964428.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:08.489Z,1628964428.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:08.490Z,1628964428.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:08.490Z,1628964428.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:08.889Z,1628964428.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,01600,188,80,80,74,FF
2021-08-14T18:07:08.889Z,1628964428.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:08.889Z,1628964428.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:08.891Z,1628964428.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:09.297Z,1628964429.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:10.139Z,1628964430.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A7,000,0163C,18A,80,80,74,FF
2021-08-14T18:07:10.140Z,1628964430.140 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:10.142Z,1628964430.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180710.79*5F

2021-08-14T18:07:10.572Z,1628964430.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.019989 m, bearing: 126.263137 deg, deltaT: 4.854936 s, approachRate: 0.741515 m/s, LOS rate: -2.115980 deg/s, posRepo size: 2
2021-08-14T18:07:10.575Z,1628964430.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.019989 m,
      bearing: 126.263137 deg,
      approachRate: 0.741515 m/s,
      LOS rate: -2.115980 deg/s,
      cmd update: -8.463919 deg/s,
      cmd heading: 136.536083 deg,
      new cmd heading: 136.536083 deg.

2021-08-14T18:07:12.981Z,1628964432.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:13.337Z,1628964433.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:13.337Z,1628964433.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:13.337Z,1628964433.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:13.338Z,1628964433.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:13.737Z,1628964433.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A7,000,0163C,18A,80,80,74,FF
2021-08-14T18:07:13.737Z,1628964433.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:13.737Z,1628964433.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:13.739Z,1628964433.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:14.165Z,1628964434.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:14.969Z,1628964434.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,01672,189,80,80,75,FF
2021-08-14T18:07:14.969Z,1628964434.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:14.973Z,1628964434.973 [Micromodem](INFO): Nmea in: $SNTTA,,0.113377,,,180715.63*4F

2021-08-14T18:07:15.389Z,1628964435.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.259979 m, bearing: 101.073754 deg, deltaT: 4.820231 s, approachRate: 0.672165 m/s, LOS rate: -5.225762 deg/s, posRepo size: 3
2021-08-14T18:07:15.391Z,1628964435.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.259979 m,
      bearing: 101.073754 deg,
      approachRate: 0.672165 m/s,
      LOS rate: -5.225762 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 95.738274 deg,
      new cmd heading: 92.440630 deg.

2021-08-14T18:07:17.805Z,1628964437.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:18.189Z,1628964438.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:18.189Z,1628964438.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:18.189Z,1628964438.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:18.190Z,1628964438.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:18.618Z,1628964438.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,01672,189,80,80,75,FF
2021-08-14T18:07:18.618Z,1628964438.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:18.618Z,1628964438.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:18.624Z,1628964438.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:19.005Z,1628964439.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:19.807Z,1628964439.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,333,000,0169F,189,80,80,A0,FF
2021-08-14T18:07:19.808Z,1628964439.808 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:19.815Z,1628964439.815 [Micromodem](INFO): Nmea in: $SNTTA,0.208931,,,,180720.52*4A

2021-08-14T18:07:20.267Z,1628964440.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.959991 m, bearing: 83.849485 deg, deltaT: 4.893047 s, approachRate: 0.551806 m/s, LOS rate: -3.520152 deg/s, posRepo size: 4
2021-08-14T18:07:20.270Z,1628964440.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.959991 m,
      bearing: 83.849485 deg,
      approachRate: 0.551806 m/s,
      LOS rate: -3.520152 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 37.034764 deg,
      new cmd heading: 32.515384 deg.

2021-08-14T18:07:22.686Z,1628964442.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:23.037Z,1628964443.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:23.037Z,1628964443.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:23.037Z,1628964443.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:23.038Z,1628964443.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:23.437Z,1628964443.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
333,000,0169F,189,80,80,A0,FF
2021-08-14T18:07:23.438Z,1628964443.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:23.438Z,1628964443.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:23.440Z,1628964443.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:23.846Z,1628964443.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:24.674Z,1628964444.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,016BF,186,80,80,8F,FF
2021-08-14T18:07:24.674Z,1628964444.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:24.679Z,1628964444.679 [Micromodem](INFO): Nmea in: $SNTTA,0.210248,,,,180725.34*43

2021-08-14T18:07:25.095Z,1628964445.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.880005 m, bearing: 84.441704 deg, deltaT: 4.849471 s, approachRate: 0.395922 m/s, LOS rate: 0.122120 deg/s, posRepo size: 4
2021-08-14T18:07:25.098Z,1628964445.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.880005 m,
      bearing: 84.441704 deg,
      approachRate: 0.395922 m/s,
      LOS rate: 0.122120 deg/s,
      cmd update: 0.488481 deg/s,
      cmd heading: 339.230967 deg,
      new cmd heading: 334.578530 deg.

2021-08-14T18:07:27.506Z,1628964447.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:27.878Z,1628964447.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:27.879Z,1628964447.879 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:27.879Z,1628964447.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:27.880Z,1628964447.880 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:28.289Z,1628964448.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,016BF,186,80,80,8F,FF
2021-08-14T18:07:28.289Z,1628964448.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:28.289Z,1628964448.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:28.291Z,1628964448.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:28.699Z,1628964448.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:29.530Z,1628964449.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,016D1,189,80,80,96,FF
2021-08-14T18:07:29.531Z,1628964449.531 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:29.540Z,1628964449.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180730.19*5B

2021-08-14T18:07:29.950Z,1628964449.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.959991 m, bearing: 25.306981 deg, deltaT: 4.869186 s, approachRate: 0.221800 m/s, LOS rate: -12.144684 deg/s, posRepo size: 4
2021-08-14T18:07:29.951Z,1628964449.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.144684 deg/s. Setting heading cmd to target bearing of 25.306981deg and heading rate command to 0 deg/s.
2021-08-14T18:07:32.370Z,1628964452.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:32.718Z,1628964452.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:32.718Z,1628964452.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:32.719Z,1628964452.719 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:32.720Z,1628964452.720 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:33.136Z,1628964453.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,016D1,189,80,80,96,FF
2021-08-14T18:07:33.136Z,1628964453.136 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:33.136Z,1628964453.136 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:33.138Z,1628964453.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:33.563Z,1628964453.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:34.345Z,1628964454.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,016CE,189,80,80,A0,FF
2021-08-14T18:07:34.345Z,1628964454.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:34.349Z,1628964454.349 [Micromodem](INFO): Nmea in: $SNTTA,0.210471,0.411962,,,180735.04*5A

2021-08-14T18:07:34.794Z,1628964454.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.779999 m, bearing: 7.991394 deg, deltaT: 4.824701 s, approachRate: -0.037306 m/s, LOS rate: -3.588946 deg/s, posRepo size: 4
2021-08-14T18:07:34.812Z,1628964454.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.779999 m,
      bearing: 7.991394 deg,
      approachRate: -0.037306 m/s,
      LOS rate: -3.588946 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.306981 deg,
      new cmd heading: 25.306981 deg.

2021-08-14T18:07:37.207Z,1628964457.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:37.617Z,1628964457.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:37.617Z,1628964457.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:37.618Z,1628964457.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:37.618Z,1628964457.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:37.977Z,1628964457.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,016CE,189,80,80,A0,FF
2021-08-14T18:07:37.977Z,1628964457.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:37.977Z,1628964457.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:37.979Z,1628964457.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:38.389Z,1628964458.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:39.205Z,1628964459.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,016BF,189,80,80,B0,FF
2021-08-14T18:07:39.205Z,1628964459.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:39.209Z,1628964459.209 [Micromodem](INFO): Nmea in: $SNTTA,0.209880,,,,180739.88*4F

2021-08-14T18:07:39.654Z,1628964459.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.880005 m, bearing: 348.757082 deg, deltaT: 4.789214 s, approachRate: -0.187921 m/s, LOS rate: -4.016175 deg/s, posRepo size: 4
2021-08-14T18:07:39.656Z,1628964459.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.880005 m,
      bearing: 348.757082 deg,
      approachRate: -0.187921 m/s,
      LOS rate: -4.016175 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.615468 deg,
      new cmd heading: 322.457580 deg.

2021-08-14T18:07:42.047Z,1628964462.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:42.425Z,1628964462.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:42.425Z,1628964462.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:42.426Z,1628964462.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:42.427Z,1628964462.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:42.825Z,1628964462.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,016BF,189,80,80,B0,FF
2021-08-14T18:07:42.825Z,1628964462.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:42.825Z,1628964462.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:42.827Z,1628964462.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:43.238Z,1628964463.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:44.081Z,1628964464.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,328,000,016A0,188,80,80,AC,FF
2021-08-14T18:07:44.082Z,1628964464.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:44.092Z,1628964464.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180744.72*55

2021-08-14T18:07:44.480Z,1628964464.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.019989 m, bearing: 353.772571 deg, deltaT: 4.985767 s, approachRate: -0.373065 m/s, LOS rate: 1.005962 deg/s, posRepo size: 4
2021-08-14T18:07:44.482Z,1628964464.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.019989 m,
      bearing: 353.772571 deg,
      approachRate: -0.373065 m/s,
      LOS rate: 1.005962 deg/s,
      cmd update: 4.023846 deg/s,
      cmd heading: 267.925006 deg,
      new cmd heading: 264.550894 deg.

2021-08-14T18:07:46.900Z,1628964466.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:47.269Z,1628964467.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:47.269Z,1628964467.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:47.269Z,1628964467.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:47.270Z,1628964467.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:47.673Z,1628964467.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
328,000,016A0,188,80,80,AC,FF
2021-08-14T18:07:47.673Z,1628964467.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:47.673Z,1628964467.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:47.675Z,1628964467.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:48.120Z,1628964468.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:48.912Z,1628964468.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,01679,189,80,80,A1,FF
2021-08-14T18:07:48.913Z,1628964468.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:48.915Z,1628964468.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180749.57*5F

2021-08-14T18:07:49.341Z,1628964469.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.679993 m, bearing: 345.168336 deg, deltaT: 4.731689 s, approachRate: -0.494537 m/s, LOS rate: -1.818428 deg/s, posRepo size: 4
2021-08-14T18:07:49.343Z,1628964469.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.679993 m,
      bearing: 345.168336 deg,
      approachRate: -0.494537 m/s,
      LOS rate: -1.818428 deg/s,
      cmd update: -7.273712 deg/s,
      cmd heading: 287.011107 deg,
      new cmd heading: 288.615402 deg.

2021-08-14T18:07:51.750Z,1628964471.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:52.153Z,1628964472.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:52.153Z,1628964472.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:52.153Z,1628964472.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:52.154Z,1628964472.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:52.521Z,1628964472.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,01679,189,80,80,A1,FF
2021-08-14T18:07:52.521Z,1628964472.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:52.521Z,1628964472.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:52.523Z,1628964472.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:52.929Z,1628964472.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:53.745Z,1628964473.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,0164D,186,80,80,A1,FF
2021-08-14T18:07:53.746Z,1628964473.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:53.748Z,1628964473.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180754.42*57

2021-08-14T18:07:54.231Z,1628964474.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.039978 m, bearing: 346.842416 deg, deltaT: 4.832744 s, approachRate: -0.546277 m/s, LOS rate: 0.346403 deg/s, posRepo size: 4
2021-08-14T18:07:54.237Z,1628964474.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.039978 m,
      bearing: 346.842416 deg,
      approachRate: -0.546277 m/s,
      LOS rate: 0.346403 deg/s,
      cmd update: 1.385614 deg/s,
      cmd heading: 251.859673 deg,
      new cmd heading: 248.538874 deg.

2021-08-14T18:07:56.640Z,1628964476.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:07:56.965Z,1628964476.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:07:56.965Z,1628964476.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:07:56.965Z,1628964476.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:07:56.966Z,1628964476.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:07:57.369Z,1628964477.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,0164D,186,80,80,A1,FF
2021-08-14T18:07:57.369Z,1628964477.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:07:57.369Z,1628964477.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:07:57.371Z,1628964477.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:07:57.777Z,1628964477.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:07:58.195Z,1628964478.195 [Micromodem](INFO): Nmea in: $SNTTA,0.292477,0.292670,,,180759.27*5C

2021-08-14T18:07:58.597Z,1628964478.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,0161B,187,80,80,A9,FF
2021-08-14T18:07:58.598Z,1628964478.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:07:59.019Z,1628964479.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.039978 m, bearing: 343.007729 deg, deltaT: 4.902638 s, approachRate: -0.611915 m/s, LOS rate: -0.782168 deg/s, posRepo size: 4
2021-08-14T18:07:59.022Z,1628964479.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.039978 m,
      bearing: 343.007729 deg,
      approachRate: -0.611915 m/s,
      LOS rate: -0.782168 deg/s,
      cmd update: -3.128672 deg/s,
      cmd heading: 258.641566 deg,
      new cmd heading: 259.127275 deg.

2021-08-14T18:08:01.430Z,1628964481.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:01.813Z,1628964481.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:01.813Z,1628964481.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:01.813Z,1628964481.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:01.814Z,1628964481.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:02.217Z,1628964482.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,0161B,187,80,80,A9,FF
2021-08-14T18:08:02.217Z,1628964482.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:02.217Z,1628964482.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:02.219Z,1628964482.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:02.649Z,1628964482.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:03.449Z,1628964483.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,015EC,189,80,80,A6,FF
2021-08-14T18:08:03.449Z,1628964483.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:03.452Z,1628964483.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180804.12*58

2021-08-14T18:08:03.904Z,1628964483.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.220001 m, bearing: 345.273357 deg, deltaT: 4.838196 s, approachRate: -0.582857 m/s, LOS rate: 0.468280 deg/s, posRepo size: 4
2021-08-14T18:08:03.906Z,1628964483.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.220001 m,
      bearing: 345.273357 deg,
      approachRate: -0.582857 m/s,
      LOS rate: 0.468280 deg/s,
      cmd update: 1.873118 deg/s,
      cmd heading: 243.491562 deg,
      new cmd heading: 242.276733 deg.

2021-08-14T18:08:06.324Z,1628964486.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:06.665Z,1628964486.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:06.665Z,1628964486.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:06.665Z,1628964486.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:06.666Z,1628964486.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:07.065Z,1628964487.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,015EC,189,80,80,A6,FF
2021-08-14T18:08:07.065Z,1628964487.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:07.065Z,1628964487.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:07.067Z,1628964487.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:07.473Z,1628964487.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:08.309Z,1628964488.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B77,000,015C6,188,80,80,A4,FF
2021-08-14T18:08:08.309Z,1628964488.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:08.312Z,1628964488.312 [Micromodem](INFO): Nmea in: $SNTTA,0.200417,,,,180808.97*47

2021-08-14T18:08:08.726Z,1628964488.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.939972 m, bearing: 350.522521 deg, deltaT: 4.868494 s, approachRate: -0.468323 m/s, LOS rate: 1.078191 deg/s, posRepo size: 4
2021-08-14T18:08:08.728Z,1628964488.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.939972 m,
      bearing: 350.522521 deg,
      approachRate: -0.468323 m/s,
      LOS rate: 1.078191 deg/s,
      cmd update: 4.312762 deg/s,
      cmd heading: 252.603287 deg,
      new cmd heading: 253.259667 deg.

2021-08-14T18:08:11.142Z,1628964491.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:11.521Z,1628964491.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:11.521Z,1628964491.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:11.521Z,1628964491.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:11.522Z,1628964491.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:11.929Z,1628964491.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B77,000,015C6,188,80,80,A4,FF
2021-08-14T18:08:11.929Z,1628964491.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:11.929Z,1628964491.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:11.931Z,1628964491.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:12.334Z,1628964492.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:13.135Z,1628964493.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B03,000,015AC,18A,80,80,AB,FF
2021-08-14T18:08:13.135Z,1628964493.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:13.138Z,1628964493.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180813.83*56

2021-08-14T18:08:13.626Z,1628964493.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.379974 m, bearing: 335.921681 deg, deltaT: 4.770074 s, approachRate: -0.327038 m/s, LOS rate: -3.060925 deg/s, posRepo size: 4
2021-08-14T18:08:13.632Z,1628964493.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.379974 m,
      bearing: 335.921681 deg,
      approachRate: -0.327038 m/s,
      LOS rate: -3.060925 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 273.210502 deg,
      new cmd heading: 275.246255 deg.

2021-08-14T18:08:16.145Z,1628964496.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:16.361Z,1628964496.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:16.361Z,1628964496.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:16.361Z,1628964496.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:16.362Z,1628964496.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:16.782Z,1628964496.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B03,000,015AC,18A,80,80,AB,FF
2021-08-14T18:08:16.782Z,1628964496.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:16.783Z,1628964496.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:16.785Z,1628964496.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:17.181Z,1628964497.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:17.989Z,1628964497.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0159D,189,80,80,A9,FF
2021-08-14T18:08:17.989Z,1628964497.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:18.012Z,1628964498.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180818.68*58

2021-08-14T18:08:18.448Z,1628964498.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.480011 m, bearing: 333.335361 deg, deltaT: 4.875356 s, approachRate: -0.184594 m/s, LOS rate: -0.530488 deg/s, posRepo size: 4
2021-08-14T18:08:18.450Z,1628964498.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.480011 m,
      bearing: 333.335361 deg,
      approachRate: -0.184594 m/s,
      LOS rate: -0.530488 deg/s,
      cmd update: -2.121953 deg/s,
      cmd heading: 214.718613 deg,
      new cmd heading: 209.684792 deg.

2021-08-14T18:08:20.854Z,1628964500.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:21.210Z,1628964501.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:21.210Z,1628964501.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:21.210Z,1628964501.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:21.211Z,1628964501.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:21.642Z,1628964501.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0159D,189,80,80,A9,FF
2021-08-14T18:08:21.642Z,1628964501.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:21.642Z,1628964501.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:21.645Z,1628964501.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:22.029Z,1628964502.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:22.827Z,1628964502.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,01593,189,80,80,5B,FF
2021-08-14T18:08:22.828Z,1628964502.828 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:22.835Z,1628964502.835 [Micromodem](INFO): Nmea in: $SNTTA,0.198280,,,,180823.54*4B

2021-08-14T18:08:23.288Z,1628964503.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.879974 m, bearing: 301.724645 deg, deltaT: 4.865116 s, approachRate: -0.123334 m/s, LOS rate: -6.497423 deg/s, posRepo size: 4
2021-08-14T18:08:23.291Z,1628964503.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.879974 m,
      bearing: 301.724645 deg,
      approachRate: -0.123334 m/s,
      LOS rate: -6.497423 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 204.392823 deg,
      new cmd heading: 203.570184 deg.

2021-08-14T18:08:25.721Z,1628964505.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:26.076Z,1628964506.076 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:26.077Z,1628964506.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:26.078Z,1628964506.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:26.079Z,1628964506.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:26.457Z,1628964506.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,01593,189,80,80,5B,FF
2021-08-14T18:08:26.457Z,1628964506.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:26.457Z,1628964506.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:26.459Z,1628964506.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:26.875Z,1628964506.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:27.689Z,1628964507.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,01595,185,80,80,A0,FF
2021-08-14T18:08:27.689Z,1628964507.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:27.692Z,1628964507.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180828.36*50

2021-08-14T18:08:28.165Z,1628964508.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.000000 m, bearing: 258.949028 deg, deltaT: 4.872691 s, approachRate: 0.024632 m/s, LOS rate: -8.778643 deg/s, posRepo size: 4
2021-08-14T18:08:28.168Z,1628964508.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.000000 m,
      bearing: 258.949028 deg,
      approachRate: 0.024632 m/s,
      LOS rate: -8.778643 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 145.969826 deg,
      new cmd heading: 141.158210 deg.

2021-08-14T18:08:30.515Z,1628964510.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:30.909Z,1628964510.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:30.910Z,1628964510.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:30.910Z,1628964510.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:30.911Z,1628964510.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:31.305Z,1628964511.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,01595,185,80,80,A0,FF
2021-08-14T18:08:31.305Z,1628964511.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:31.305Z,1628964511.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:31.307Z,1628964511.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:31.719Z,1628964511.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:32.154Z,1628964512.154 [Micromodem](INFO): Nmea in: $SNTTA,0.198722,0.326311,,,180833.21*5F

2021-08-14T18:08:32.517Z,1628964512.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C92,000,015A9,189,80,80,83,FF
2021-08-14T18:08:32.518Z,1628964512.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:32.973Z,1628964512.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.199982 m, bearing: 266.790768 deg, deltaT: 4.799106 s, approachRate: 0.250043 m/s, LOS rate: 1.634000 deg/s, posRepo size: 4
2021-08-14T18:08:32.975Z,1628964512.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.199982 m,
      bearing: 266.790768 deg,
      approachRate: 0.250043 m/s,
      LOS rate: 1.634000 deg/s,
      cmd update: 6.536001 deg/s,
      cmd heading: 88.633668 deg,
      new cmd heading: 83.645124 deg.

2021-08-14T18:08:35.378Z,1628964515.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:35.749Z,1628964515.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:35.749Z,1628964515.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:35.749Z,1628964515.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:35.750Z,1628964515.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:36.169Z,1628964516.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C92,000,015A9,189,80,80,83,FF
2021-08-14T18:08:36.169Z,1628964516.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:36.169Z,1628964516.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:36.171Z,1628964516.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:36.564Z,1628964516.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:37.377Z,1628964517.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,015CE,189,80,80,73,FF
2021-08-14T18:08:37.377Z,1628964517.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:37.380Z,1628964517.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180838.07*53

2021-08-14T18:08:37.821Z,1628964517.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.419983 m, bearing: 242.872265 deg, deltaT: 4.850868 s, approachRate: 0.457650 m/s, LOS rate: -4.930768 deg/s, posRepo size: 4
2021-08-14T18:08:37.823Z,1628964517.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.419983 m,
      bearing: 242.872265 deg,
      approachRate: 0.457650 m/s,
      LOS rate: -4.930768 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 120.445208 deg,
      new cmd heading: 123.141328 deg.

2021-08-14T18:08:40.244Z,1628964520.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:40.615Z,1628964520.615 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:40.615Z,1628964520.615 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:40.615Z,1628964520.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:40.616Z,1628964520.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:41.001Z,1628964521.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,015CE,189,80,80,73,FF
2021-08-14T18:08:41.001Z,1628964521.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:41.001Z,1628964521.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:41.003Z,1628964521.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:41.413Z,1628964521.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:42.221Z,1628964522.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,015FD,187,80,80,86,FF
2021-08-14T18:08:42.222Z,1628964522.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:42.225Z,1628964522.225 [Micromodem](INFO): Nmea in: $SNTTA,0.438867,0.438817,,,180842.90*57

2021-08-14T18:08:42.702Z,1628964522.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.239990 m, bearing: 194.395599 deg, deltaT: 4.877132 s, approachRate: 0.578210 m/s, LOS rate: -9.939585 deg/s, posRepo size: 4
2021-08-14T18:08:42.708Z,1628964522.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.239990 m,
      bearing: 194.395599 deg,
      approachRate: 0.578210 m/s,
      LOS rate: -9.939585 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 61.869282 deg,
      new cmd heading: 56.922486 deg.

2021-08-14T18:08:45.072Z,1628964525.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:45.448Z,1628964525.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:45.448Z,1628964525.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:45.448Z,1628964525.448 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:45.449Z,1628964525.449 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:45.861Z,1628964525.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,015FD,187,80,80,86,FF
2021-08-14T18:08:45.861Z,1628964525.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:45.861Z,1628964525.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:45.863Z,1628964525.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:46.269Z,1628964526.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:47.082Z,1628964527.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180847.76*5D

2021-08-14T18:08:47.914Z,1628964527.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:49.501Z,1628964529.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,86,FF
2021-08-14T18:08:49.501Z,1628964529.501 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,86,FF
2021-08-14T18:08:49.502Z,1628964529.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:08:50.805Z,1628964530.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:51.105Z,1628964531.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:51.105Z,1628964531.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:51.105Z,1628964531.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:51.106Z,1628964531.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:51.513Z,1628964531.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,86,FF
2021-08-14T18:08:51.513Z,1628964531.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:51.513Z,1628964531.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:51.515Z,1628964531.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:51.916Z,1628964531.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:52.741Z,1628964532.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,01673,189,80,80,51,FF
2021-08-14T18:08:52.742Z,1628964532.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:52.744Z,1628964532.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180853.41*5C

2021-08-14T18:08:53.156Z,1628964533.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.320007 m, bearing: 181.568763 deg, deltaT: 10.530833 s, approachRate: 0.672313 m/s, LOS rate: -1.218027 deg/s, posRepo size: 4
2021-08-14T18:08:53.158Z,1628964533.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.320007 m,
      bearing: 181.568763 deg,
      approachRate: 0.672313 m/s,
      LOS rate: -1.218027 deg/s,
      cmd update: -4.872107 deg/s,
      cmd heading: 295.541079 deg,
      new cmd heading: 291.473883 deg.

2021-08-14T18:08:55.623Z,1628964535.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:08:55.957Z,1628964535.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:08:55.957Z,1628964535.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:08:55.957Z,1628964535.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:08:55.958Z,1628964535.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:08:56.354Z,1628964536.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,01673,189,80,80,51,FF
2021-08-14T18:08:56.354Z,1628964536.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:08:56.354Z,1628964536.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:08:56.356Z,1628964536.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:08:56.769Z,1628964536.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:08:57.615Z,1628964537.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,016A1,189,80,80,8E,FF
2021-08-14T18:08:57.615Z,1628964537.615 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:08:57.618Z,1628964537.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180858.26*56

2021-08-14T18:08:58.002Z,1628964538.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.079987 m, bearing: 93.973083 deg, deltaT: 4.849071 s, approachRate: 0.569177 m/s, LOS rate: -18.064425 deg/s, posRepo size: 4
2021-08-14T18:08:58.003Z,1628964538.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.064425 deg/s. Setting heading cmd to target bearing of 93.973083deg and heading rate command to 0 deg/s.
2021-08-14T18:09:00.445Z,1628964540.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:00.805Z,1628964540.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:00.805Z,1628964540.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:00.805Z,1628964540.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:00.806Z,1628964540.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:01.213Z,1628964541.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,016A1,189,80,80,8E,FF
2021-08-14T18:09:01.213Z,1628964541.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:01.215Z,1628964541.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:01.231Z,1628964541.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:01.637Z,1628964541.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:02.427Z,1628964542.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,016D6,189,80,80,70,FF
2021-08-14T18:09:02.428Z,1628964542.428 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:02.435Z,1628964542.435 [Micromodem](INFO): Nmea in: $SNTTA,0.326471,,,,180903.13*44

2021-08-14T18:09:02.862Z,1628964542.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.260010 m, bearing: 182.309838 deg, deltaT: 4.838748 s, approachRate: 0.657200 m/s, LOS rate: 18.256119 deg/s, posRepo size: 4
2021-08-14T18:09:02.863Z,1628964542.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.256119 deg/s. Setting heading cmd to target bearing of 182.309838deg and heading rate command to 0 deg/s.
2021-08-14T18:09:05.263Z,1628964545.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:05.665Z,1628964545.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:05.665Z,1628964545.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:05.665Z,1628964545.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:05.666Z,1628964545.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:06.072Z,1628964546.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,016D6,189,80,80,70,FF
2021-08-14T18:09:06.076Z,1628964546.076 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:06.077Z,1628964546.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:06.083Z,1628964546.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:06.468Z,1628964546.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:07.282Z,1628964547.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180907.98*58

2021-08-14T18:09:08.157Z,1628964548.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:09.703Z,1628964549.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,70,FF
2021-08-14T18:09:09.703Z,1628964549.703 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,70,FF
2021-08-14T18:09:09.703Z,1628964549.703 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:09:10.934Z,1628964550.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:11.323Z,1628964551.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:11.323Z,1628964551.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:11.323Z,1628964551.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:11.324Z,1628964551.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:11.709Z,1628964551.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,70,FF
2021-08-14T18:09:11.709Z,1628964551.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:11.709Z,1628964551.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:11.711Z,1628964551.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:12.152Z,1628964552.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:12.964Z,1628964552.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,0174A,186,80,80,6A,FF
2021-08-14T18:09:12.964Z,1628964552.964 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:12.967Z,1628964552.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180913.61*5B

2021-08-14T18:09:13.357Z,1628964553.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 320.220001 m, bearing: 200.110951 deg, deltaT: 10.500174 s, approachRate: 0.662845 m/s, LOS rate: 1.695316 deg/s, posRepo size: 4
2021-08-14T18:09:13.358Z,1628964553.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.220001 m,
      bearing: 200.110951 deg,
      approachRate: 0.662845 m/s,
      LOS rate: 1.695316 deg/s,
      cmd update: 6.781264 deg/s,
      cmd heading: 182.309838 deg,
      new cmd heading: 182.309838 deg.

2021-08-14T18:09:15.792Z,1628964555.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:16.162Z,1628964556.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:16.162Z,1628964556.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:16.162Z,1628964556.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:16.163Z,1628964556.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:16.565Z,1628964556.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,0174A,186,80,80,6A,FF
2021-08-14T18:09:16.565Z,1628964556.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:16.565Z,1628964556.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:16.567Z,1628964556.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:16.993Z,1628964556.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:17.794Z,1628964557.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,01781,186,80,80,41,FF
2021-08-14T18:09:17.795Z,1628964557.795 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:17.799Z,1628964557.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180918.47*54

2021-08-14T18:09:18.248Z,1628964558.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.519989 m, bearing: 184.765824 deg, deltaT: 4.865092 s, approachRate: 0.678299 m/s, LOS rate: -3.154129 deg/s, posRepo size: 4
2021-08-14T18:09:18.250Z,1628964558.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.519989 m,
      bearing: 184.765824 deg,
      approachRate: 0.678299 m/s,
      LOS rate: -3.154129 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 215.411289 deg,
      new cmd heading: 217.943467 deg.

2021-08-14T18:09:20.654Z,1628964560.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:21.017Z,1628964561.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:21.017Z,1628964561.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:21.017Z,1628964561.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:21.018Z,1628964561.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:21.404Z,1628964561.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,01781,186,80,80,41,FF
2021-08-14T18:09:21.404Z,1628964561.404 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:21.404Z,1628964561.404 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:21.406Z,1628964561.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:21.813Z,1628964561.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:22.659Z,1628964562.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,017B6,186,80,80,73,FF
2021-08-14T18:09:22.660Z,1628964562.660 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:22.665Z,1628964562.665 [Micromodem](INFO): Nmea in: $SNTTA,0.219546,,,,180923.31*4E

2021-08-14T18:09:23.068Z,1628964563.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.699982 m, bearing: 222.624989 deg, deltaT: 4.864519 s, approachRate: 0.653712 m/s, LOS rate: 7.782715 deg/s, posRepo size: 4
2021-08-14T18:09:23.070Z,1628964563.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.699982 m,
      bearing: 222.624989 deg,
      approachRate: 0.653712 m/s,
      LOS rate: 7.782715 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.037611 deg,
      new cmd heading: 153.089755 deg.

2021-08-14T18:09:25.477Z,1628964565.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:25.845Z,1628964565.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:25.845Z,1628964565.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:25.845Z,1628964565.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:25.846Z,1628964565.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:26.253Z,1628964566.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,017B6,186,80,80,73,FF
2021-08-14T18:09:26.253Z,1628964566.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:26.254Z,1628964566.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:26.255Z,1628964566.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:26.665Z,1628964566.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:27.493Z,1628964567.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,017E1,187,80,80,5A,FF
2021-08-14T18:09:27.493Z,1628964567.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:27.496Z,1628964567.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180928.15*50

2021-08-14T18:09:27.912Z,1628964567.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 329.279968 m, bearing: 182.787460 deg, deltaT: 4.822313 s, approachRate: 0.535010 m/s, LOS rate: -8.261083 deg/s, posRepo size: 4
2021-08-14T18:09:27.914Z,1628964567.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.279968 m,
      bearing: 182.787460 deg,
      approachRate: 0.535010 m/s,
      LOS rate: -8.261083 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 214.706829 deg,
      new cmd heading: 219.115701 deg.

2021-08-14T18:09:30.339Z,1628964570.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:30.717Z,1628964570.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:30.717Z,1628964570.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:30.718Z,1628964570.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:30.719Z,1628964570.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:31.101Z,1628964571.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,017E1,187,80,80,5A,FF
2021-08-14T18:09:31.101Z,1628964571.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:31.101Z,1628964571.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:31.103Z,1628964571.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:31.517Z,1628964571.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:32.337Z,1628964572.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,01812,186,80,80,65,FF
2021-08-14T18:09:32.337Z,1628964572.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:32.365Z,1628964572.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180933.00*5E

2021-08-14T18:09:32.758Z,1628964572.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 332.220001 m, bearing: 206.331259 deg, deltaT: 4.851243 s, approachRate: 0.606037 m/s, LOS rate: 4.853148 deg/s, posRepo size: 4
2021-08-14T18:09:32.781Z,1628964572.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.220001 m,
      bearing: 206.331259 deg,
      approachRate: 0.606037 m/s,
      LOS rate: 4.853148 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.293107 deg,
      new cmd heading: 152.138419 deg.

2021-08-14T18:09:35.159Z,1628964575.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:35.554Z,1628964575.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:35.554Z,1628964575.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:35.554Z,1628964575.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:35.555Z,1628964575.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:35.957Z,1628964575.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,01812,186,80,80,65,FF
2021-08-14T18:09:35.958Z,1628964575.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:35.958Z,1628964575.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:35.959Z,1628964575.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:36.357Z,1628964576.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:37.194Z,1628964577.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180937.86*54

2021-08-14T18:09:38.006Z,1628964578.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:39.604Z,1628964579.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,65,FF
2021-08-14T18:09:39.605Z,1628964579.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,65,FF
2021-08-14T18:09:39.606Z,1628964579.606 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:09:40.848Z,1628964580.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:41.197Z,1628964581.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:41.197Z,1628964581.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:41.197Z,1628964581.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:41.198Z,1628964581.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:41.635Z,1628964581.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,65,FF
2021-08-14T18:09:41.635Z,1628964581.635 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:41.635Z,1628964581.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:41.637Z,1628964581.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:42.012Z,1628964582.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:42.839Z,1628964582.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,01884,189,80,80,61,FF
2021-08-14T18:09:42.839Z,1628964582.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:42.842Z,1628964582.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180943.53*5F

2021-08-14T18:09:43.271Z,1628964583.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.059998 m, bearing: 151.365803 deg, deltaT: 10.452028 s, approachRate: 0.654418 m/s, LOS rate: -5.258832 deg/s, posRepo size: 4
2021-08-14T18:09:43.273Z,1628964583.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.059998 m,
      bearing: 151.365803 deg,
      approachRate: 0.654418 m/s,
      LOS rate: -5.258832 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.765795 deg,
      new cmd heading: 286.600523 deg.

2021-08-14T18:09:45.691Z,1628964585.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:46.063Z,1628964586.063 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:46.064Z,1628964586.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:46.065Z,1628964586.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:46.066Z,1628964586.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:46.453Z,1628964586.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,01884,189,80,80,61,FF
2021-08-14T18:09:46.453Z,1628964586.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:46.453Z,1628964586.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:46.455Z,1628964586.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:46.869Z,1628964586.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:47.697Z,1628964587.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,018BB,187,80,80,58,FF
2021-08-14T18:09:47.697Z,1628964587.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:47.700Z,1628964587.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180948.36*57

2021-08-14T18:09:48.163Z,1628964588.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 342.359985 m, bearing: 213.730894 deg, deltaT: 4.857840 s, approachRate: 0.679312 m/s, LOS rate: 12.838029 deg/s, posRepo size: 4
2021-08-14T18:09:48.163Z,1628964588.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.838029 deg/s. Setting heading cmd to target bearing of 213.730894deg and heading rate command to 0 deg/s.
2021-08-14T18:09:50.511Z,1628964590.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:50.897Z,1628964590.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:50.897Z,1628964590.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:50.897Z,1628964590.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:50.898Z,1628964590.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:51.317Z,1628964591.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,018BB,187,80,80,58,FF
2021-08-14T18:09:51.317Z,1628964591.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:51.317Z,1628964591.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:51.319Z,1628964591.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:51.709Z,1628964591.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:52.172Z,1628964592.172 [Micromodem](INFO): Nmea in: $SNTTA,0.320209,0.320490,,,180953.22*5E

2021-08-14T18:09:52.519Z,1628964592.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,018E8,189,80,80,5F,FF
2021-08-14T18:09:52.519Z,1628964592.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:52.955Z,1628964592.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 345.059967 m, bearing: 253.115937 deg, deltaT: 4.821362 s, approachRate: 0.560004 m/s, LOS rate: 8.168863 deg/s, posRepo size: 4
2021-08-14T18:09:52.958Z,1628964592.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.059967 m,
      bearing: 253.115937 deg,
      approachRate: 0.560004 m/s,
      LOS rate: 8.168863 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 213.730894 deg,
      new cmd heading: 213.730894 deg.

2021-08-14T18:09:55.387Z,1628964595.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:09:55.749Z,1628964595.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:09:55.749Z,1628964595.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:09:55.749Z,1628964595.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:09:55.750Z,1628964595.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:09:56.173Z,1628964596.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,018E8,189,80,80,5F,FF
2021-08-14T18:09:56.173Z,1628964596.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:09:56.173Z,1628964596.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:09:56.175Z,1628964596.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:09:56.684Z,1628964596.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:09:57.478Z,1628964597.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0190A,186,80,80,8C,FF
2021-08-14T18:09:57.478Z,1628964597.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:09:57.481Z,1628964597.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180958.08*5B

2021-08-14T18:09:57.919Z,1628964597.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.099976 m, bearing: 246.339597 deg, deltaT: 4.949892 s, approachRate: 0.412132 m/s, LOS rate: -1.368987 deg/s, posRepo size: 4
2021-08-14T18:09:57.921Z,1628964597.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.099976 m,
      bearing: 246.339597 deg,
      approachRate: 0.412132 m/s,
      LOS rate: -1.368987 deg/s,
      cmd update: -5.475950 deg/s,
      cmd heading: 273.160499 deg,
      new cmd heading: 278.228639 deg.

2021-08-14T18:10:00.351Z,1628964600.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:00.705Z,1628964600.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:00.705Z,1628964600.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:00.705Z,1628964600.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:00.706Z,1628964600.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:01.109Z,1628964601.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0190A,186,80,80,8C,FF
2021-08-14T18:10:01.109Z,1628964601.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:01.109Z,1628964601.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:01.111Z,1628964601.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:01.522Z,1628964601.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:02.321Z,1628964602.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,01924,189,80,80,74,FF
2021-08-14T18:10:02.321Z,1628964602.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:02.325Z,1628964602.325 [Micromodem](INFO): Nmea in: $SNTTA,0.385357,0.385369,,,181003.01*59

2021-08-14T18:10:02.778Z,1628964602.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.660004 m, bearing: 209.040562 deg, deltaT: 4.905250 s, approachRate: 0.318032 m/s, LOS rate: -7.603901 deg/s, posRepo size: 4
2021-08-14T18:10:02.785Z,1628964602.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.660004 m,
      bearing: 209.040562 deg,
      approachRate: 0.318032 m/s,
      LOS rate: -7.603901 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 246.360911 deg,
      new cmd heading: 244.236610 deg.

2021-08-14T18:10:05.165Z,1628964605.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:05.559Z,1628964605.559 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:05.559Z,1628964605.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:05.560Z,1628964605.560 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:05.561Z,1628964605.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:05.957Z,1628964605.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,01924,189,80,80,74,FF
2021-08-14T18:10:05.957Z,1628964605.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:05.958Z,1628964605.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:05.959Z,1628964605.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:06.377Z,1628964606.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:07.205Z,1628964607.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0192F,186,80,80,AD,FF
2021-08-14T18:10:07.205Z,1628964607.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:07.208Z,1628964607.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181007.86*5F

2021-08-14T18:10:07.651Z,1628964607.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.320007 m, bearing: 280.373774 deg, deltaT: 4.820617 s, approachRate: 0.136913 m/s, LOS rate: 14.797528 deg/s, posRepo size: 4
2021-08-14T18:10:07.652Z,1628964607.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.797528 deg/s. Setting heading cmd to target bearing of 280.373774deg and heading rate command to 0 deg/s.
2021-08-14T18:10:10.023Z,1628964610.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:10.409Z,1628964610.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:10.409Z,1628964610.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:10.410Z,1628964610.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:10.410Z,1628964610.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:10.805Z,1628964610.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,0192F,186,80,80,AD,FF
2021-08-14T18:10:10.805Z,1628964610.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:10.805Z,1628964610.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:10.807Z,1628964610.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:11.206Z,1628964611.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:12.037Z,1628964612.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFC,000,0193B,18A,80,80,76,FF
2021-08-14T18:10:12.037Z,1628964612.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:12.040Z,1628964612.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181012.70*52

2021-08-14T18:10:12.470Z,1628964612.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.039978 m, bearing: 289.808068 deg, deltaT: 4.895182 s, approachRate: 0.147077 m/s, LOS rate: 1.927261 deg/s, posRepo size: 4
2021-08-14T18:10:12.472Z,1628964612.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.039978 m,
      bearing: 289.808068 deg,
      approachRate: 0.147077 m/s,
      LOS rate: 1.927261 deg/s,
      cmd update: 7.709045 deg/s,
      cmd heading: 280.373774 deg,
      new cmd heading: 280.373774 deg.

2021-08-14T18:10:14.886Z,1628964614.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:15.253Z,1628964615.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:15.253Z,1628964615.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:15.253Z,1628964615.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:15.254Z,1628964615.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:15.669Z,1628964615.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFC,000,0193B,18A,80,80,76,FF
2021-08-14T18:10:15.669Z,1628964615.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:15.670Z,1628964615.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:15.671Z,1628964615.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:16.079Z,1628964616.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:16.881Z,1628964616.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF1,000,01956,187,80,80,8F,FF
2021-08-14T18:10:16.881Z,1628964616.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:16.884Z,1628964616.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181017.57*52

2021-08-14T18:10:17.327Z,1628964617.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.660004 m, bearing: 253.286910 deg, deltaT: 4.849574 s, approachRate: 0.334055 m/s, LOS rate: -7.530798 deg/s, posRepo size: 4
2021-08-14T18:10:17.329Z,1628964617.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.660004 m,
      bearing: 253.286910 deg,
      approachRate: 0.334055 m/s,
      LOS rate: -7.530798 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 317.860115 deg,
      new cmd heading: 320.660541 deg.

2021-08-14T18:10:19.746Z,1628964619.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:20.141Z,1628964620.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:20.141Z,1628964620.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:20.141Z,1628964620.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:20.142Z,1628964620.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:20.510Z,1628964620.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF1,000,01956,187,80,80,8F,FF
2021-08-14T18:10:20.510Z,1628964620.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:20.510Z,1628964620.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:20.513Z,1628964620.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:20.908Z,1628964620.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:21.741Z,1628964621.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,01970,186,80,80,50,FF
2021-08-14T18:10:21.741Z,1628964621.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:21.744Z,1628964621.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181022.41*53

2021-08-14T18:10:22.215Z,1628964622.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.219971 m, bearing: 260.146360 deg, deltaT: 4.848214 s, approachRate: 0.321761 m/s, LOS rate: 1.414840 deg/s, posRepo size: 4
2021-08-14T18:10:22.218Z,1628964622.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.219971 m,
      bearing: 260.146360 deg,
      approachRate: 0.321761 m/s,
      LOS rate: 1.414840 deg/s,
      cmd update: 5.659362 deg/s,
      cmd heading: 259.729462 deg,
      new cmd heading: 254.839150 deg.

2021-08-14T18:10:24.612Z,1628964624.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:24.953Z,1628964624.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:24.953Z,1628964624.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:24.953Z,1628964624.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:24.954Z,1628964624.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:25.349Z,1628964625.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,01970,186,80,80,50,FF
2021-08-14T18:10:25.350Z,1628964625.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:25.350Z,1628964625.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:25.354Z,1628964625.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:25.768Z,1628964625.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:26.596Z,1628964626.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,0197D,186,80,80,8D,FF
2021-08-14T18:10:26.598Z,1628964626.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:26.628Z,1628964626.628 [Micromodem](INFO): Nmea in: $SNTTA,0.238476,,,,181027.25*46

2021-08-14T18:10:27.015Z,1628964627.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.000000 m, bearing: 286.976436 deg, deltaT: 4.867037 s, approachRate: 0.160268 m/s, LOS rate: 5.512610 deg/s, posRepo size: 4
2021-08-14T18:10:27.018Z,1628964627.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.000000 m,
      bearing: 286.976436 deg,
      approachRate: 0.160268 m/s,
      LOS rate: 5.512610 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 287.297233 deg,
      new cmd heading: 289.187075 deg.

2021-08-14T18:10:29.411Z,1628964629.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:29.797Z,1628964629.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:29.797Z,1628964629.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:29.797Z,1628964629.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:29.798Z,1628964629.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:30.197Z,1628964630.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,0197D,186,80,80,8D,FF
2021-08-14T18:10:30.197Z,1628964630.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:30.197Z,1628964630.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:30.199Z,1628964630.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:30.658Z,1628964630.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:31.441Z,1628964631.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01978,189,80,80,74,FF
2021-08-14T18:10:31.441Z,1628964631.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:31.444Z,1628964631.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181032.10*56

2021-08-14T18:10:31.915Z,1628964631.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.700012 m, bearing: 346.610708 deg, deltaT: 4.776434 s, approachRate: -0.062806 m/s, LOS rate: 12.485103 deg/s, posRepo size: 4
2021-08-14T18:10:31.916Z,1628964631.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.485103 deg/s. Setting heading cmd to target bearing of 346.610708deg and heading rate command to 0 deg/s.
2021-08-14T18:10:34.316Z,1628964634.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:34.673Z,1628964634.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:34.673Z,1628964634.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:34.673Z,1628964634.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:34.674Z,1628964634.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:35.067Z,1628964635.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01978,189,80,80,74,FF
2021-08-14T18:10:35.067Z,1628964635.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:35.067Z,1628964635.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:35.069Z,1628964635.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:35.468Z,1628964635.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:36.306Z,1628964636.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8A,000,01961,189,80,80,88,FF
2021-08-14T18:10:36.307Z,1628964636.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:36.314Z,1628964636.314 [Micromodem](INFO): Nmea in: $SNTTA,0.237428,0.445651,,,181036.97*52

2021-08-14T18:10:36.719Z,1628964636.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.320007 m, bearing: 348.270444 deg, deltaT: 4.932205 s, approachRate: -0.279795 m/s, LOS rate: 0.336510 deg/s, posRepo size: 4
2021-08-14T18:10:36.721Z,1628964636.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.320007 m,
      bearing: 348.270444 deg,
      approachRate: -0.279795 m/s,
      LOS rate: 0.336510 deg/s,
      cmd update: 1.346040 deg/s,
      cmd heading: 346.610708 deg,
      new cmd heading: 346.610708 deg.

2021-08-14T18:10:39.127Z,1628964639.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:39.505Z,1628964639.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:39.505Z,1628964639.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:39.505Z,1628964639.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:39.506Z,1628964639.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:39.913Z,1628964639.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,01961,189,80,80,88,FF
2021-08-14T18:10:39.914Z,1628964639.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:39.914Z,1628964639.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:39.915Z,1628964639.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:40.336Z,1628964640.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:41.149Z,1628964641.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,0193F,187,80,80,6C,FF
2021-08-14T18:10:41.149Z,1628964641.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:41.152Z,1628964641.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181041.82*59

2021-08-14T18:10:41.603Z,1628964641.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.279999 m, bearing: 301.803629 deg, deltaT: 4.804073 s, approachRate: -0.424641 m/s, LOS rate: -9.672379 deg/s, posRepo size: 4
2021-08-14T18:10:41.625Z,1628964641.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.279999 m,
      bearing: 301.803629 deg,
      approachRate: -0.424641 m/s,
      LOS rate: -9.672379 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.071823 deg,
      new cmd heading: 353.620161 deg.

2021-08-14T18:10:43.987Z,1628964643.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:44.361Z,1628964644.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:44.361Z,1628964644.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:44.361Z,1628964644.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:44.362Z,1628964644.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:44.763Z,1628964644.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,0193F,187,80,80,6C,FF
2021-08-14T18:10:44.763Z,1628964644.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:44.763Z,1628964644.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:44.765Z,1628964644.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:45.165Z,1628964645.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:45.989Z,1628964645.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,01914,186,80,80,8B,FF
2021-08-14T18:10:45.989Z,1628964645.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:45.992Z,1628964645.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181046.66*54

2021-08-14T18:10:46.455Z,1628964646.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.699982 m, bearing: 358.943161 deg, deltaT: 4.842860 s, approachRate: -0.532747 m/s, LOS rate: 11.798716 deg/s, posRepo size: 4
2021-08-14T18:10:46.461Z,1628964646.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.798716 deg/s. Setting heading cmd to target bearing of 358.943161deg and heading rate command to 0 deg/s.
2021-08-14T18:10:48.835Z,1628964648.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:49.201Z,1628964649.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:49.201Z,1628964649.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:49.201Z,1628964649.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:49.202Z,1628964649.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:49.629Z,1628964649.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,01914,186,80,80,8B,FF
2021-08-14T18:10:49.629Z,1628964649.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:49.629Z,1628964649.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:49.631Z,1628964649.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:50.013Z,1628964650.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:50.419Z,1628964650.419 [Micromodem](INFO): Nmea in: $SNTTA,0.164770,0.124519,,,181051.53*5D

2021-08-14T18:10:50.821Z,1628964650.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,018E3,187,80,80,85,FF
2021-08-14T18:10:50.822Z,1628964650.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:51.257Z,1628964651.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.759979 m, bearing: 358.324510 deg, deltaT: 4.811871 s, approachRate: -0.610989 m/s, LOS rate: -0.128568 deg/s, posRepo size: 4
2021-08-14T18:10:51.259Z,1628964651.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.759979 m,
      bearing: 358.324510 deg,
      approachRate: -0.610989 m/s,
      LOS rate: -0.128568 deg/s,
      cmd update: -0.514271 deg/s,
      cmd heading: 358.943161 deg,
      new cmd heading: 358.943161 deg.

2021-08-14T18:10:53.697Z,1628964653.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:54.052Z,1628964654.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:54.053Z,1628964654.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:54.053Z,1628964654.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:54.054Z,1628964654.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:54.461Z,1628964654.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,018E3,187,80,80,85,FF
2021-08-14T18:10:54.461Z,1628964654.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:54.461Z,1628964654.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:54.463Z,1628964654.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:54.861Z,1628964654.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:10:55.697Z,1628964655.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,018B5,189,80,80,3F,FF
2021-08-14T18:10:55.697Z,1628964655.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:10:55.701Z,1628964655.701 [Micromodem](INFO): Nmea in: $SNTTA,0.230555,,,,181056.37*4B

2021-08-14T18:10:56.153Z,1628964656.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 341.999969 m, bearing: 2.284242 deg, deltaT: 4.904154 s, approachRate: -0.562790 m/s, LOS rate: 0.807422 deg/s, posRepo size: 4
2021-08-14T18:10:56.154Z,1628964656.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.999969 m,
      bearing: 2.284242 deg,
      approachRate: -0.562790 m/s,
      LOS rate: 0.807422 deg/s,
      cmd update: 3.229690 deg/s,
      cmd heading: 356.421118 deg,
      new cmd heading: 356.216701 deg.

2021-08-14T18:10:58.519Z,1628964658.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:10:58.909Z,1628964658.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:10:58.909Z,1628964658.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:10:58.909Z,1628964658.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:10:58.910Z,1628964658.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:10:59.309Z,1628964659.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,018B5,189,80,80,3F,FF
2021-08-14T18:10:59.309Z,1628964659.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:10:59.309Z,1628964659.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:10:59.311Z,1628964659.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:10:59.728Z,1628964659.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:00.167Z,1628964660.167 [Micromodem](INFO): Nmea in: $SNTTA,0.228669,0.282680,,,181101.21*52

2021-08-14T18:11:00.534Z,1628964660.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,01885,186,80,80,6D,FF
2021-08-14T18:11:00.534Z,1628964660.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:00.969Z,1628964660.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.119995 m, bearing: 359.476462 deg, deltaT: 4.875673 s, approachRate: -0.590682 m/s, LOS rate: -0.575874 deg/s, posRepo size: 4
2021-08-14T18:11:00.971Z,1628964660.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.119995 m,
      bearing: 359.476462 deg,
      approachRate: -0.590682 m/s,
      LOS rate: -0.575874 deg/s,
      cmd update: -2.303495 deg/s,
      cmd heading: 12.134560 deg,
      new cmd heading: 13.261412 deg.

2021-08-14T18:11:03.368Z,1628964663.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:03.753Z,1628964663.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:03.753Z,1628964663.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:03.753Z,1628964663.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:03.754Z,1628964663.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:04.173Z,1628964664.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,01885,186,80,80,6D,FF
2021-08-14T18:11:04.173Z,1628964664.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:04.173Z,1628964664.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:04.175Z,1628964664.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:04.568Z,1628964664.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:05.401Z,1628964665.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,01856,185,80,80,67,FF
2021-08-14T18:11:05.402Z,1628964665.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:05.404Z,1628964665.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181106.07*56

2021-08-14T18:11:05.826Z,1628964665.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.299988 m, bearing: 0.117911 deg, deltaT: 4.789395 s, approachRate: -0.588802 m/s, LOS rate: 0.133932 deg/s, posRepo size: 4
2021-08-14T18:11:05.829Z,1628964665.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.299988 m,
      bearing: 0.117911 deg,
      approachRate: -0.588802 m/s,
      LOS rate: 0.133932 deg/s,
      cmd update: 0.535729 deg/s,
      cmd heading: 1.078196 deg,
      new cmd heading: 0.141789 deg.

2021-08-14T18:11:08.245Z,1628964668.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:08.613Z,1628964668.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:08.613Z,1628964668.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:08.613Z,1628964668.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:08.614Z,1628964668.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:09.010Z,1628964669.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,01856,185,80,80,67,FF
2021-08-14T18:11:09.010Z,1628964669.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:09.010Z,1628964669.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:09.012Z,1628964669.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:09.412Z,1628964669.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:10.225Z,1628964670.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,01824,186,80,80,70,FF
2021-08-14T18:11:10.226Z,1628964670.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:10.229Z,1628964670.229 [Micromodem](INFO): Nmea in: $SNTTA,0.434311,0.434430,,,181110.91*5A

2021-08-14T18:11:10.694Z,1628964670.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.299988 m, bearing: 359.949303 deg, deltaT: 4.889452 s, approachRate: -0.613566 m/s, LOS rate: -0.034485 deg/s, posRepo size: 4
2021-08-14T18:11:10.695Z,1628964670.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.299988 m,
      bearing: 359.949303 deg,
      approachRate: -0.613566 m/s,
      LOS rate: -0.034485 deg/s,
      cmd update: -0.137941 deg/s,
      cmd heading: 3.693012 deg,
      new cmd heading: 3.903466 deg.

2021-08-14T18:11:13.063Z,1628964673.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:13.469Z,1628964673.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:13.469Z,1628964673.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:13.469Z,1628964673.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:13.470Z,1628964673.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:13.853Z,1628964673.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,01824,186,80,80,70,FF
2021-08-14T18:11:13.853Z,1628964673.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:13.853Z,1628964673.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:13.855Z,1628964673.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:14.276Z,1628964674.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:15.089Z,1628964675.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,017F1,186,80,80,70,FF
2021-08-14T18:11:15.089Z,1628964675.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:15.093Z,1628964675.093 [Micromodem](INFO): Nmea in: $SNTTA,0.226795,,,,181115.75*42

2021-08-14T18:11:15.525Z,1628964675.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 330.239990 m, bearing: 0.095853 deg, deltaT: 4.798511 s, approachRate: -0.637697 m/s, LOS rate: 0.030538 deg/s, posRepo size: 4
2021-08-14T18:11:15.528Z,1628964675.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.239990 m,
      bearing: 0.095853 deg,
      approachRate: -0.637697 m/s,
      LOS rate: 0.030538 deg/s,
      cmd update: 0.122153 deg/s,
      cmd heading: 3.029925 deg,
      new cmd heading: 2.972568 deg.

2021-08-14T18:11:17.926Z,1628964677.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:18.306Z,1628964678.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:18.306Z,1628964678.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:18.306Z,1628964678.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:18.307Z,1628964678.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:18.705Z,1628964678.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,017F1,186,80,80,70,FF
2021-08-14T18:11:18.705Z,1628964678.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:18.705Z,1628964678.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:18.707Z,1628964678.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:19.145Z,1628964679.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:19.941Z,1628964679.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,017BD,186,80,80,6D,FF
2021-08-14T18:11:19.941Z,1628964679.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:19.944Z,1628964679.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181120.61*52

2021-08-14T18:11:20.395Z,1628964680.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 327.119995 m, bearing: 359.886847 deg, deltaT: 4.910179 s, approachRate: -0.635414 m/s, LOS rate: -0.042563 deg/s, posRepo size: 4
2021-08-14T18:11:20.397Z,1628964680.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 327.119995 m,
      bearing: 359.886847 deg,
      approachRate: -0.635414 m/s,
      LOS rate: -0.042563 deg/s,
      cmd update: -0.170253 deg/s,
      cmd heading: 3.629219 deg,
      new cmd heading: 3.675433 deg.

2021-08-14T18:11:22.797Z,1628964682.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:23.154Z,1628964683.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:23.154Z,1628964683.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:23.154Z,1628964683.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:23.155Z,1628964683.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:23.568Z,1628964683.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,017BD,186,80,80,6D,FF
2021-08-14T18:11:23.569Z,1628964683.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:23.569Z,1628964683.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:23.575Z,1628964683.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:23.959Z,1628964683.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:24.371Z,1628964684.371 [Micromodem](INFO): Nmea in: $SNTTA,0.148386,0.148511,,,181125.48*54

2021-08-14T18:11:24.762Z,1628964684.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A1,000,0178A,186,80,80,8D,FF
2021-08-14T18:11:24.763Z,1628964684.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:25.216Z,1628964685.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 324.059998 m, bearing: 0.600367 deg, deltaT: 4.838608 s, approachRate: -0.632413 m/s, LOS rate: 0.147465 deg/s, posRepo size: 4
2021-08-14T18:11:25.218Z,1628964685.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.059998 m,
      bearing: 0.600367 deg,
      approachRate: -0.632413 m/s,
      LOS rate: 0.147465 deg/s,
      cmd update: 0.589861 deg/s,
      cmd heading: 2.807600 deg,
      new cmd heading: 2.743612 deg.

2021-08-14T18:11:27.657Z,1628964687.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:27.990Z,1628964687.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:27.990Z,1628964687.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:27.990Z,1628964687.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:27.991Z,1628964687.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:28.409Z,1628964688.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A1,000,0178A,186,80,80,8D,FF
2021-08-14T18:11:28.409Z,1628964688.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:28.409Z,1628964688.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:28.411Z,1628964688.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:28.801Z,1628964688.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:29.648Z,1628964689.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,01757,186,80,80,7D,FF
2021-08-14T18:11:29.649Z,1628964689.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:29.682Z,1628964689.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181130.31*56

2021-08-14T18:11:30.115Z,1628964690.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 320.999969 m, bearing: 0.407917 deg, deltaT: 4.871591 s, approachRate: -0.628137 m/s, LOS rate: -0.039505 deg/s, posRepo size: 4
2021-08-14T18:11:30.121Z,1628964690.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.999969 m,
      bearing: 0.407917 deg,
      approachRate: -0.628137 m/s,
      LOS rate: -0.039505 deg/s,
      cmd update: -0.158018 deg/s,
      cmd heading: 5.691085 deg,
      new cmd heading: 5.919185 deg.

2021-08-14T18:11:32.507Z,1628964692.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:32.854Z,1628964692.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:32.854Z,1628964692.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:32.854Z,1628964692.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:32.855Z,1628964692.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:33.245Z,1628964693.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,01757,186,80,80,7D,FF
2021-08-14T18:11:33.245Z,1628964693.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:33.245Z,1628964693.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:33.247Z,1628964693.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:33.665Z,1628964693.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:34.488Z,1628964694.488 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,01726,186,80,80,9D,FF
2021-08-14T18:11:34.489Z,1628964694.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:34.492Z,1628964694.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181135.15*55

2021-08-14T18:11:34.914Z,1628964694.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 318.059998 m, bearing: 0.907369 deg, deltaT: 4.893801 s, approachRate: -0.600754 m/s, LOS rate: 0.102058 deg/s, posRepo size: 4
2021-08-14T18:11:34.916Z,1628964694.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.059998 m,
      bearing: 0.907369 deg,
      approachRate: -0.600754 m/s,
      LOS rate: 0.102058 deg/s,
      cmd update: 0.408232 deg/s,
      cmd heading: 4.918414 deg,
      new cmd heading: 4.871568 deg.

2021-08-14T18:11:37.311Z,1628964697.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:37.693Z,1628964697.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:37.694Z,1628964697.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:37.694Z,1628964697.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:37.695Z,1628964697.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:38.137Z,1628964698.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,01726,186,80,80,9D,FF
2021-08-14T18:11:38.137Z,1628964698.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:38.137Z,1628964698.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:38.139Z,1628964698.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:38.509Z,1628964698.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:39.311Z,1628964699.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,016F3,186,80,80,97,FF
2021-08-14T18:11:39.312Z,1628964699.312 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:39.319Z,1628964699.319 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181140.04*57

2021-08-14T18:11:39.746Z,1628964699.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.000000 m, bearing: 0.737316 deg, deltaT: 4.757153 s, approachRate: -0.643241 m/s, LOS rate: -0.035747 deg/s, posRepo size: 4
2021-08-14T18:11:39.764Z,1628964699.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.000000 m,
      bearing: 0.737316 deg,
      approachRate: -0.643241 m/s,
      LOS rate: -0.035747 deg/s,
      cmd update: -0.142987 deg/s,
      cmd heading: 6.860394 deg,
      new cmd heading: 7.011907 deg.

2021-08-14T18:11:42.205Z,1628964702.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:42.555Z,1628964702.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:42.556Z,1628964702.556 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:42.556Z,1628964702.556 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:42.557Z,1628964702.557 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:42.941Z,1628964702.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,016F3,186,80,80,97,FF
2021-08-14T18:11:42.941Z,1628964702.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:42.941Z,1628964702.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:42.943Z,1628964702.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:43.357Z,1628964703.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:44.181Z,1628964704.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,016C1,185,80,80,95,FF
2021-08-14T18:11:44.182Z,1628964704.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:44.184Z,1628964704.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181144.85*5A

2021-08-14T18:11:44.631Z,1628964704.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.999969 m, bearing: 0.173782 deg, deltaT: 4.877811 s, approachRate: -0.615036 m/s, LOS rate: -0.115530 deg/s, posRepo size: 4
2021-08-14T18:11:44.637Z,1628964704.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.999969 m,
      bearing: 0.173782 deg,
      approachRate: -0.615036 m/s,
      LOS rate: -0.115530 deg/s,
      cmd update: -0.462120 deg/s,
      cmd heading: 6.163508 deg,
      new cmd heading: 6.108896 deg.

2021-08-14T18:11:47.008Z,1628964707.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:47.381Z,1628964707.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:47.381Z,1628964707.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:47.381Z,1628964707.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:47.382Z,1628964707.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:47.786Z,1628964707.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,016C1,185,80,80,95,FF
2021-08-14T18:11:47.786Z,1628964707.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:47.786Z,1628964707.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:47.788Z,1628964707.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:48.217Z,1628964708.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:49.001Z,1628964709.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,01690,186,80,80,98,FF
2021-08-14T18:11:49.001Z,1628964709.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:49.450Z,1628964709.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.059998 m, bearing: 0.213898 deg, deltaT: 4.785383 s, approachRate: -0.614365 m/s, LOS rate: 0.008383 deg/s, posRepo size: 4
2021-08-14T18:11:49.452Z,1628964709.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.059998 m,
      bearing: 0.213898 deg,
      approachRate: -0.614365 m/s,
      LOS rate: 0.008383 deg/s,
      cmd update: 0.033532 deg/s,
      cmd heading: 3.950132 deg,
      new cmd heading: 3.759752 deg.

2021-08-14T18:11:51.871Z,1628964711.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:52.237Z,1628964712.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:52.237Z,1628964712.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:52.237Z,1628964712.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:52.238Z,1628964712.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:52.665Z,1628964712.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,01690,186,80,80,98,FF
2021-08-14T18:11:52.665Z,1628964712.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:52.665Z,1628964712.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:52.667Z,1628964712.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:53.049Z,1628964713.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:53.866Z,1628964713.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,0165B,186,80,80,95,FF
2021-08-14T18:11:53.867Z,1628964713.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:53.870Z,1628964713.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181154.57*54

2021-08-14T18:11:54.323Z,1628964714.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.879974 m, bearing: 0.732138 deg, deltaT: 4.885638 s, approachRate: -0.650892 m/s, LOS rate: 0.106074 deg/s, posRepo size: 4
2021-08-14T18:11:54.325Z,1628964714.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.879974 m,
      bearing: 0.732138 deg,
      approachRate: -0.650892 m/s,
      LOS rate: 0.106074 deg/s,
      cmd update: 0.424297 deg/s,
      cmd heading: 4.113941 deg,
      new cmd heading: 4.127345 deg.

2021-08-14T18:11:56.733Z,1628964716.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:11:57.085Z,1628964717.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:11:57.085Z,1628964717.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:11:57.085Z,1628964717.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:11:57.086Z,1628964717.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:11:57.497Z,1628964717.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,0165B,186,80,80,95,FF
2021-08-14T18:11:57.497Z,1628964717.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:11:57.498Z,1628964717.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:11:57.499Z,1628964717.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:11:57.904Z,1628964717.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:11:58.733Z,1628964718.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,01629,186,80,80,97,FF
2021-08-14T18:11:58.733Z,1628964718.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:11:58.736Z,1628964718.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181159.40*5F

2021-08-14T18:11:59.156Z,1628964719.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.879974 m, bearing: 0.075159 deg, deltaT: 4.833996 s, approachRate: -0.620605 m/s, LOS rate: -0.135908 deg/s, posRepo size: 4
2021-08-14T18:11:59.158Z,1628964719.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.879974 m,
      bearing: 0.075159 deg,
      approachRate: -0.620605 m/s,
      LOS rate: -0.135908 deg/s,
      cmd update: -0.543633 deg/s,
      cmd heading: 6.166873 deg,
      new cmd heading: 6.327087 deg.

2021-08-14T18:12:01.622Z,1628964721.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:01.941Z,1628964721.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:01.941Z,1628964721.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:01.941Z,1628964721.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:01.942Z,1628964721.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:02.345Z,1628964722.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,01629,186,80,80,97,FF
2021-08-14T18:12:02.346Z,1628964722.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:02.346Z,1628964722.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:02.347Z,1628964722.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:02.744Z,1628964722.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:03.588Z,1628964723.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,015EE,186,80,80,94,FF
2021-08-14T18:12:03.590Z,1628964723.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:03.599Z,1628964723.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181204.25*57

2021-08-14T18:12:03.992Z,1628964723.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.339966 m, bearing: 359.904661 deg, deltaT: 4.914268 s, approachRate: -0.720353 m/s, LOS rate: -0.034695 deg/s, posRepo size: 4
2021-08-14T18:12:03.994Z,1628964723.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.339966 m,
      bearing: 359.904661 deg,
      approachRate: -0.720353 m/s,
      LOS rate: -0.034695 deg/s,
      cmd update: -0.138779 deg/s,
      cmd heading: 3.495386 deg,
      new cmd heading: 3.323822 deg.

2021-08-14T18:12:06.454Z,1628964726.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:06.789Z,1628964726.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:06.789Z,1628964726.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:06.789Z,1628964726.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:06.790Z,1628964726.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:07.185Z,1628964727.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,015EE,186,80,80,94,FF
2021-08-14T18:12:07.185Z,1628964727.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:07.185Z,1628964727.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:07.187Z,1628964727.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:07.621Z,1628964727.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:08.421Z,1628964728.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,015C0,186,80,80,A4,FF
2021-08-14T18:12:08.421Z,1628964728.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:08.424Z,1628964728.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181209.09*54

2021-08-14T18:12:08.871Z,1628964728.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.579987 m, bearing: 359.996595 deg, deltaT: 4.826697 s, approachRate: -0.571815 m/s, LOS rate: 0.019047 deg/s, posRepo size: 4
2021-08-14T18:12:08.877Z,1628964728.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.579987 m,
      bearing: 359.996595 deg,
      approachRate: -0.571815 m/s,
      LOS rate: 0.019047 deg/s,
      cmd update: 0.076188 deg/s,
      cmd heading: 2.825564 deg,
      new cmd heading: 2.774516 deg.

2021-08-14T18:12:11.251Z,1628964731.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:11.661Z,1628964731.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:11.661Z,1628964731.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:11.661Z,1628964731.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:11.662Z,1628964731.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:12.129Z,1628964732.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,015C0,186,80,80,A4,FF
2021-08-14T18:12:12.129Z,1628964732.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:12.129Z,1628964732.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:12.131Z,1628964732.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:12.486Z,1628964732.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:13.291Z,1628964733.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,0158B,186,80,80,AF,FF
2021-08-14T18:12:13.293Z,1628964733.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:13.299Z,1628964733.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181214.03*52

2021-08-14T18:12:13.754Z,1628964733.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.399994 m, bearing: 0.392030 deg, deltaT: 4.851220 s, approachRate: -0.655504 m/s, LOS rate: 0.081512 deg/s, posRepo size: 4
2021-08-14T18:12:13.755Z,1628964733.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.399994 m,
      bearing: 0.392030 deg,
      approachRate: -0.655504 m/s,
      LOS rate: 0.081512 deg/s,
      cmd update: 0.326046 deg/s,
      cmd heading: 3.194880 deg,
      new cmd heading: 3.225553 deg.

2021-08-14T18:12:16.193Z,1628964736.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:16.526Z,1628964736.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:16.526Z,1628964736.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:16.526Z,1628964736.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:16.527Z,1628964736.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:16.929Z,1628964736.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,0158B,186,80,80,AF,FF
2021-08-14T18:12:16.929Z,1628964736.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:16.929Z,1628964736.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:16.931Z,1628964736.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:17.336Z,1628964737.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:18.165Z,1628964738.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,01557,186,80,80,A1,FF
2021-08-14T18:12:18.165Z,1628964738.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:18.168Z,1628964738.168 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181218.83*56

2021-08-14T18:12:18.627Z,1628964738.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.279999 m, bearing: 359.600143 deg, deltaT: 4.889547 s, approachRate: -0.638095 m/s, LOS rate: -0.161954 deg/s, posRepo size: 4
2021-08-14T18:12:18.630Z,1628964738.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.279999 m,
      bearing: 359.600143 deg,
      approachRate: -0.638095 m/s,
      LOS rate: -0.161954 deg/s,
      cmd update: -0.647816 deg/s,
      cmd heading: 4.789111 deg,
      new cmd heading: 4.914282 deg.

2021-08-14T18:12:21.027Z,1628964741.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:21.369Z,1628964741.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:21.369Z,1628964741.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:21.370Z,1628964741.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:21.371Z,1628964741.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:21.793Z,1628964741.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,01557,186,80,80,A1,FF
2021-08-14T18:12:21.794Z,1628964741.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:21.794Z,1628964741.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:21.795Z,1628964741.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:22.176Z,1628964742.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:22.995Z,1628964742.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,01525,186,80,80,96,FF
2021-08-14T18:12:22.995Z,1628964742.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:23.002Z,1628964743.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181223.70*52

2021-08-14T18:12:23.435Z,1628964743.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.279999 m, bearing: 359.288386 deg, deltaT: 4.808191 s, approachRate: -0.623935 m/s, LOS rate: -0.064839 deg/s, posRepo size: 4
2021-08-14T18:12:23.438Z,1628964743.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.279999 m,
      bearing: 359.288386 deg,
      approachRate: -0.623935 m/s,
      LOS rate: -0.064839 deg/s,
      cmd update: -0.259355 deg/s,
      cmd heading: 1.674289 deg,
      new cmd heading: 1.423187 deg.

2021-08-14T18:12:25.887Z,1628964745.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:26.217Z,1628964746.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:26.218Z,1628964746.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:26.218Z,1628964746.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:26.219Z,1628964746.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:26.650Z,1628964746.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,01525,186,80,80,96,FF
2021-08-14T18:12:26.650Z,1628964746.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:26.651Z,1628964746.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:26.653Z,1628964746.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:27.030Z,1628964747.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:27.831Z,1628964747.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,014F0,186,80,80,9A,FF
2021-08-14T18:12:27.833Z,1628964747.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:27.839Z,1628964747.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181228.56*5D

2021-08-14T18:12:28.309Z,1628964748.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.099976 m, bearing: 0.158332 deg, deltaT: 4.862008 s, approachRate: -0.654056 m/s, LOS rate: 0.178926 deg/s, posRepo size: 4
2021-08-14T18:12:28.311Z,1628964748.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.099976 m,
      bearing: 0.158332 deg,
      approachRate: -0.654056 m/s,
      LOS rate: 0.178926 deg/s,
      cmd update: 0.715702 deg/s,
      cmd heading: 0.412280 deg,
      new cmd heading: 0.309976 deg.

2021-08-14T18:12:30.783Z,1628964750.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:31.069Z,1628964751.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:31.069Z,1628964751.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:31.069Z,1628964751.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:31.070Z,1628964751.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:31.472Z,1628964751.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,014F0,186,80,80,9A,FF
2021-08-14T18:12:31.473Z,1628964751.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:31.473Z,1628964751.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:31.474Z,1628964751.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:31.888Z,1628964751.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:32.275Z,1628964752.275 [Micromodem](INFO): Nmea in: $SNTTA,0.242230,0.243211,,,181233.37*52

2021-08-14T18:12:32.677Z,1628964752.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,014BB,186,80,80,9C,FF
2021-08-14T18:12:32.677Z,1628964752.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:33.120Z,1628964753.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.920013 m, bearing: 0.238681 deg, deltaT: 4.791202 s, approachRate: -0.663709 m/s, LOS rate: 0.016770 deg/s, posRepo size: 4
2021-08-14T18:12:33.122Z,1628964753.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.920013 m,
      bearing: 0.238681 deg,
      approachRate: -0.663709 m/s,
      LOS rate: 0.016770 deg/s,
      cmd update: 0.067080 deg/s,
      cmd heading: 3.841261 deg,
      new cmd heading: 4.138025 deg.

2021-08-14T18:12:35.524Z,1628964755.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:35.909Z,1628964755.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:35.909Z,1628964755.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:35.909Z,1628964755.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:35.910Z,1628964755.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:36.313Z,1628964756.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,014BB,186,80,80,9C,FF
2021-08-14T18:12:36.313Z,1628964756.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:36.313Z,1628964756.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:36.315Z,1628964756.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:36.769Z,1628964756.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:37.582Z,1628964757.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,01487,186,80,80,9F,FF
2021-08-14T18:12:37.583Z,1628964757.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:37.594Z,1628964757.594 [Micromodem](INFO): Nmea in: $SNTTA,0.190495,,,,181238.22*41

2021-08-14T18:12:38.023Z,1628964758.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.799988 m, bearing: 359.847478 deg, deltaT: 4.964207 s, approachRate: -0.628504 m/s, LOS rate: -0.078803 deg/s, posRepo size: 4
2021-08-14T18:12:38.087Z,1628964758.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.799988 m,
      bearing: 359.847478 deg,
      approachRate: -0.628504 m/s,
      LOS rate: -0.078803 deg/s,
      cmd update: -0.315213 deg/s,
      cmd heading: 4.174104 deg,
      new cmd heading: 4.197899 deg.

2021-08-14T18:12:40.449Z,1628964760.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:40.817Z,1628964760.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:40.817Z,1628964760.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:40.817Z,1628964760.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:40.818Z,1628964760.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:41.205Z,1628964761.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,01487,186,80,80,9F,FF
2021-08-14T18:12:41.205Z,1628964761.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:41.205Z,1628964761.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:41.207Z,1628964761.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:41.637Z,1628964761.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:42.437Z,1628964762.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00EC9,186,80,80,A7,FF
2021-08-14T18:12:42.437Z,1628964762.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:42.440Z,1628964762.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181243.11*53

2021-08-14T18:12:42.862Z,1628964762.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.599991 m, bearing: 359.511488 deg, deltaT: 4.839589 s, approachRate: -18.224688 m/s, LOS rate: -0.069425 deg/s, posRepo size: 4
2021-08-14T18:12:42.865Z,1628964762.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.599991 m,
      bearing: 359.511488 deg,
      approachRate: -18.224688 m/s,
      LOS rate: -0.069425 deg/s,
      cmd update: -0.277702 deg/s,
      cmd heading: 2.650974 deg,
      new cmd heading: 2.536357 deg.

2021-08-14T18:12:45.273Z,1628964765.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:45.657Z,1628964765.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:45.657Z,1628964765.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:45.657Z,1628964765.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:45.658Z,1628964765.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:46.052Z,1628964766.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00EC9,186,80,80,A7,FF
2021-08-14T18:12:46.053Z,1628964766.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:46.054Z,1628964766.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:46.060Z,1628964766.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:46.464Z,1628964766.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:47.293Z,1628964767.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,0141E,186,80,80,9C,FF
2021-08-14T18:12:47.294Z,1628964767.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:47.297Z,1628964767.297 [Micromodem](INFO): Nmea in: $SNTTA,0.189015,,,,181247.96*42

2021-08-14T18:12:47.707Z,1628964767.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.500000 m, bearing: 359.915644 deg, deltaT: 4.802828 s, approachRate: 17.052456 m/s, LOS rate: 0.084150 deg/s, posRepo size: 4
2021-08-14T18:12:47.709Z,1628964767.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.500000 m,
      bearing: 359.915644 deg,
      approachRate: 17.052456 m/s,
      LOS rate: 0.084150 deg/s,
      cmd update: 0.336598 deg/s,
      cmd heading: 1.314410 deg,
      new cmd heading: 1.204777 deg.

2021-08-14T18:12:50.170Z,1628964770.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:50.497Z,1628964770.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:50.497Z,1628964770.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:50.498Z,1628964770.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:50.499Z,1628964770.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:50.901Z,1628964770.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,0141E,186,80,80,9C,FF
2021-08-14T18:12:50.901Z,1628964770.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:50.901Z,1628964770.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:50.903Z,1628964770.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:51.304Z,1628964771.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:52.153Z,1628964772.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,013E7,185,80,80,A3,FF
2021-08-14T18:12:52.153Z,1628964772.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:52.156Z,1628964772.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181252.80*5B

2021-08-14T18:12:52.563Z,1628964772.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.199982 m, bearing: 359.944194 deg, deltaT: 4.934917 s, approachRate: -0.668708 m/s, LOS rate: 0.005785 deg/s, posRepo size: 4
2021-08-14T18:12:52.565Z,1628964772.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.199982 m,
      bearing: 359.944194 deg,
      approachRate: -0.668708 m/s,
      LOS rate: 0.005785 deg/s,
      cmd update: 0.023141 deg/s,
      cmd heading: 2.974142 deg,
      new cmd heading: 3.081863 deg.

2021-08-14T18:12:54.985Z,1628964774.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:12:55.341Z,1628964775.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:12:55.341Z,1628964775.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:12:55.341Z,1628964775.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:12:55.342Z,1628964775.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:12:55.749Z,1628964775.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,013E7,185,80,80,A3,FF
2021-08-14T18:12:55.749Z,1628964775.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:12:55.750Z,1628964775.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:12:55.751Z,1628964775.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:12:56.175Z,1628964776.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:12:56.977Z,1628964776.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,013B6,186,80,80,B4,FF
2021-08-14T18:12:56.978Z,1628964776.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:12:56.981Z,1628964776.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181257.65*55

2021-08-14T18:12:57.404Z,1628964777.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.259979 m, bearing: 0.000109 deg, deltaT: 4.795847 s, approachRate: -0.613031 m/s, LOS rate: 0.011659 deg/s, posRepo size: 4
2021-08-14T18:12:57.406Z,1628964777.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.259979 m,
      bearing: 0.000109 deg,
      approachRate: -0.613031 m/s,
      LOS rate: 0.011659 deg/s,
      cmd update: 0.046637 deg/s,
      cmd heading: 3.085125 deg,
      new cmd heading: 3.093573 deg.

2021-08-14T18:12:59.837Z,1628964779.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:00.189Z,1628964780.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:00.189Z,1628964780.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:00.189Z,1628964780.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:00.190Z,1628964780.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:00.613Z,1628964780.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,013B6,186,80,80,B4,FF
2021-08-14T18:13:00.613Z,1628964780.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:00.613Z,1628964780.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:00.615Z,1628964780.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:01.008Z,1628964781.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:01.822Z,1628964781.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,0137C,186,80,80,AE,FF
2021-08-14T18:13:01.823Z,1628964781.823 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:01.826Z,1628964781.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181302.52*50

2021-08-14T18:13:02.261Z,1628964782.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.779999 m, bearing: 359.479112 deg, deltaT: 4.812761 s, approachRate: -0.723074 m/s, LOS rate: -0.108253 deg/s, posRepo size: 4
2021-08-14T18:13:02.263Z,1628964782.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.779999 m,
      bearing: 359.479112 deg,
      approachRate: -0.723074 m/s,
      LOS rate: -0.108253 deg/s,
      cmd update: -0.433013 deg/s,
      cmd heading: 3.309580 deg,
      new cmd heading: 3.328706 deg.

2021-08-14T18:13:04.685Z,1628964784.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:05.037Z,1628964785.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:05.037Z,1628964785.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:05.037Z,1628964785.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:05.038Z,1628964785.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:05.437Z,1628964785.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,0137C,186,80,80,AE,FF
2021-08-14T18:13:05.437Z,1628964785.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:05.438Z,1628964785.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:05.439Z,1628964785.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:05.849Z,1628964785.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:06.673Z,1628964786.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,0134B,186,80,80,9F,FF
2021-08-14T18:13:06.673Z,1628964786.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:06.676Z,1628964786.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181307.34*55

2021-08-14T18:13:07.096Z,1628964787.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.839996 m, bearing: 358.959581 deg, deltaT: 4.876911 s, approachRate: -0.602841 m/s, LOS rate: -0.106529 deg/s, posRepo size: 4
2021-08-14T18:13:07.098Z,1628964787.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.839996 m,
      bearing: 358.959581 deg,
      approachRate: -0.602841 m/s,
      LOS rate: -0.106529 deg/s,
      cmd update: -0.426115 deg/s,
      cmd heading: 1.207937 deg,
      new cmd heading: 1.038764 deg.

2021-08-14T18:13:09.505Z,1628964789.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:09.889Z,1628964789.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:09.889Z,1628964789.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:09.889Z,1628964789.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:09.890Z,1628964789.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:10.293Z,1628964790.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,0134B,186,80,80,9F,FF
2021-08-14T18:13:10.293Z,1628964790.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:10.293Z,1628964790.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:10.295Z,1628964790.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:10.701Z,1628964790.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:11.534Z,1628964791.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,01316,186,80,80,B1,FF
2021-08-14T18:13:11.534Z,1628964791.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:11.543Z,1628964791.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181312.20*54

2021-08-14T18:13:11.959Z,1628964791.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.659988 m, bearing: 359.631836 deg, deltaT: 4.897383 s, approachRate: -0.649328 m/s, LOS rate: 0.137268 deg/s, posRepo size: 4
2021-08-14T18:13:11.961Z,1628964791.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.659988 m,
      bearing: 359.631836 deg,
      approachRate: -0.649328 m/s,
      LOS rate: 0.137268 deg/s,
      cmd update: 0.549072 deg/s,
      cmd heading: 359.113182 deg,
      new cmd heading: 358.969043 deg.

2021-08-14T18:13:14.381Z,1628964794.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:14.741Z,1628964794.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:14.741Z,1628964794.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:14.741Z,1628964794.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:14.742Z,1628964794.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:15.137Z,1628964795.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,01316,186,80,80,B1,FF
2021-08-14T18:13:15.137Z,1628964795.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:15.137Z,1628964795.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:15.139Z,1628964795.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:15.570Z,1628964795.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:16.377Z,1628964796.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,012DF,186,80,80,A5,FF
2021-08-14T18:13:16.377Z,1628964796.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:16.381Z,1628964796.381 [Micromodem](INFO): Nmea in: $SNTTA,0.178079,,,,181317.04*49

2021-08-14T18:13:16.814Z,1628964796.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.360001 m, bearing: 359.240739 deg, deltaT: 4.849534 s, approachRate: -0.680475 m/s, LOS rate: -0.080646 deg/s, posRepo size: 4
2021-08-14T18:13:16.821Z,1628964796.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.360001 m,
      bearing: 359.240739 deg,
      approachRate: -0.680475 m/s,
      LOS rate: -0.080646 deg/s,
      cmd update: -0.322585 deg/s,
      cmd heading: 1.778517 deg,
      new cmd heading: 1.964614 deg.

2021-08-14T18:13:19.211Z,1628964799.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:19.615Z,1628964799.615 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:19.615Z,1628964799.615 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:19.615Z,1628964799.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:19.616Z,1628964799.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:19.993Z,1628964799.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,012DF,186,80,80,A5,FF
2021-08-14T18:13:19.993Z,1628964799.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:19.994Z,1628964799.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:19.995Z,1628964799.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:20.403Z,1628964800.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:21.233Z,1628964801.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,012AD,186,80,80,96,FF
2021-08-14T18:13:21.233Z,1628964801.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:21.256Z,1628964801.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181321.90*5F

2021-08-14T18:13:21.662Z,1628964801.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.359985 m, bearing: 358.987721 deg, deltaT: 4.792477 s, approachRate: -0.625984 m/s, LOS rate: -0.052795 deg/s, posRepo size: 4
2021-08-14T18:13:21.668Z,1628964801.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.359985 m,
      bearing: 358.987721 deg,
      approachRate: -0.625984 m/s,
      LOS rate: -0.052795 deg/s,
      cmd update: -0.211179 deg/s,
      cmd heading: 0.231271 deg,
      new cmd heading: 0.105240 deg.

2021-08-14T18:13:24.115Z,1628964804.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:24.429Z,1628964804.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:24.429Z,1628964804.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:24.430Z,1628964804.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:24.431Z,1628964804.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:24.829Z,1628964804.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,012AD,186,80,80,96,FF
2021-08-14T18:13:24.829Z,1628964804.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:24.830Z,1628964804.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:24.831Z,1628964804.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:25.255Z,1628964805.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:26.093Z,1628964806.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,080,000,01277,186,80,80,AC,FF
2021-08-14T18:13:26.095Z,1628964806.095 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:26.116Z,1628964806.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181326.73*55

2021-08-14T18:13:26.488Z,1628964806.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.119995 m, bearing: 358.831665 deg, deltaT: 4.924479 s, approachRate: -0.657936 m/s, LOS rate: -0.031690 deg/s, posRepo size: 4
2021-08-14T18:13:26.490Z,1628964806.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.119995 m,
      bearing: 358.831665 deg,
      approachRate: -0.657936 m/s,
      LOS rate: -0.031690 deg/s,
      cmd update: -0.126760 deg/s,
      cmd heading: 359.192161 deg,
      new cmd heading: 359.129620 deg.

2021-08-14T18:13:28.930Z,1628964808.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:29.277Z,1628964809.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:29.277Z,1628964809.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:29.277Z,1628964809.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:29.278Z,1628964809.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:29.685Z,1628964809.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
080,000,01277,186,80,80,AC,FF
2021-08-14T18:13:29.686Z,1628964809.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:29.686Z,1628964809.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:29.687Z,1628964809.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:30.131Z,1628964810.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:30.924Z,1628964810.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,01245,186,80,80,80,FF
2021-08-14T18:13:30.925Z,1628964810.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:30.929Z,1628964810.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181331.59*5B

2021-08-14T18:13:31.348Z,1628964811.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.119980 m, bearing: 358.157526 deg, deltaT: 4.822019 s, approachRate: -0.622149 m/s, LOS rate: -0.139804 deg/s, posRepo size: 4
2021-08-14T18:13:31.350Z,1628964811.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.119980 m,
      bearing: 358.157526 deg,
      approachRate: -0.622149 m/s,
      LOS rate: -0.139804 deg/s,
      cmd update: -0.559218 deg/s,
      cmd heading: 358.581802 deg,
      new cmd heading: 358.538647 deg.

2021-08-14T18:13:33.758Z,1628964813.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:34.153Z,1628964814.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:34.153Z,1628964814.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:34.153Z,1628964814.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:34.154Z,1628964814.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:34.530Z,1628964814.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,01245,186,80,80,80,FF
2021-08-14T18:13:34.530Z,1628964814.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:34.531Z,1628964814.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:34.533Z,1628964814.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:34.932Z,1628964814.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:35.761Z,1628964815.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,0121F,187,80,80,56,FF
2021-08-14T18:13:35.761Z,1628964815.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:35.765Z,1628964815.765 [Micromodem](INFO): Nmea in: $SNTTA,0.162622,,,,181336.43*4A

2021-08-14T18:13:36.227Z,1628964816.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.839996 m, bearing: 354.699565 deg, deltaT: 4.831550 s, approachRate: -0.471895 m/s, LOS rate: -0.715704 deg/s, posRepo size: 4
2021-08-14T18:13:36.234Z,1628964816.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.839996 m,
      bearing: 354.699565 deg,
      approachRate: -0.471895 m/s,
      LOS rate: -0.715704 deg/s,
      cmd update: -2.862817 deg/s,
      cmd heading: 355.884009 deg,
      new cmd heading: 355.662517 deg.

2021-08-14T18:13:38.642Z,1628964818.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:38.973Z,1628964818.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:38.973Z,1628964818.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:38.974Z,1628964818.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:38.974Z,1628964818.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:39.381Z,1628964819.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,0121F,187,80,80,56,FF
2021-08-14T18:13:39.381Z,1628964819.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:39.381Z,1628964819.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:39.383Z,1628964819.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:39.784Z,1628964819.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:40.621Z,1628964820.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,011DD,183,80,80,74,FF
2021-08-14T18:13:40.621Z,1628964820.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:40.624Z,1628964820.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181341.28*5A

2021-08-14T18:13:41.035Z,1628964821.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.879990 m, bearing: 0.114059 deg, deltaT: 4.913312 s, approachRate: -0.805975 m/s, LOS rate: 1.102006 deg/s, posRepo size: 4
2021-08-14T18:13:41.037Z,1628964821.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.879990 m,
      bearing: 0.114059 deg,
      approachRate: -0.805975 m/s,
      LOS rate: 1.102006 deg/s,
      cmd update: 4.408024 deg/s,
      cmd heading: 341.765692 deg,
      new cmd heading: 340.986255 deg.

2021-08-14T18:13:43.435Z,1628964823.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:43.825Z,1628964823.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:43.826Z,1628964823.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:43.826Z,1628964823.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:43.827Z,1628964823.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:44.233Z,1628964824.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,011DD,183,80,80,74,FF
2021-08-14T18:13:44.233Z,1628964824.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:44.233Z,1628964824.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:44.235Z,1628964824.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:44.653Z,1628964824.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:45.461Z,1628964825.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,011A8,186,80,80,83,FF
2021-08-14T18:13:45.461Z,1628964825.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:45.488Z,1628964825.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181346.14*52

2021-08-14T18:13:45.907Z,1628964825.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.699997 m, bearing: 358.667932 deg, deltaT: 4.753240 s, approachRate: -0.669016 m/s, LOS rate: -0.304241 deg/s, posRepo size: 4
2021-08-14T18:13:45.909Z,1628964825.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.699997 m,
      bearing: 358.667932 deg,
      approachRate: -0.669016 m/s,
      LOS rate: -0.304241 deg/s,
      cmd update: -1.216966 deg/s,
      cmd heading: 2.699924 deg,
      new cmd heading: 4.441437 deg.

2021-08-14T18:13:48.319Z,1628964828.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:48.669Z,1628964828.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:48.669Z,1628964828.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:48.669Z,1628964828.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:48.670Z,1628964828.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:49.089Z,1628964829.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,011A8,186,80,80,83,FF
2021-08-14T18:13:49.089Z,1628964829.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:49.089Z,1628964829.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:49.091Z,1628964829.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:49.485Z,1628964829.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:50.290Z,1628964830.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,01174,184,80,80,52,FF
2021-08-14T18:13:50.291Z,1628964830.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:50.296Z,1628964830.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181351.00*51

2021-08-14T18:13:50.717Z,1628964830.717 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T18:13:50.729Z,1628964830.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.579987 m, bearing: 358.470048 deg, deltaT: 4.847453 s, approachRate: -0.643639 m/s, LOS rate: -0.040822 deg/s, posRepo size: 4
2021-08-14T18:13:50.731Z,1628964830.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.579987 m,
      bearing: 358.470048 deg,
      approachRate: -0.643639 m/s,
      LOS rate: -0.040822 deg/s,
      cmd update: -0.163289 deg/s,
      cmd heading: 356.800744 deg,
      new cmd heading: 356.350679 deg.

2021-08-14T18:13:53.143Z,1628964833.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:53.521Z,1628964833.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:53.522Z,1628964833.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:53.522Z,1628964833.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:53.523Z,1628964833.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:53.921Z,1628964833.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,01174,184,80,80,52,FF
2021-08-14T18:13:53.921Z,1628964833.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:53.921Z,1628964833.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:53.923Z,1628964833.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:54.336Z,1628964834.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:13:55.165Z,1628964835.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,0114F,186,80,80,83,FF
2021-08-14T18:13:55.165Z,1628964835.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:13:55.168Z,1628964835.168 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181355.83*5E

2021-08-14T18:13:55.627Z,1628964835.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.359985 m, bearing: 357.333914 deg, deltaT: 4.820041 s, approachRate: -0.460577 m/s, LOS rate: -0.235710 deg/s, posRepo size: 4
2021-08-14T18:13:55.629Z,1628964835.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.359985 m,
      bearing: 357.333914 deg,
      approachRate: -0.460577 m/s,
      LOS rate: -0.235710 deg/s,
      cmd update: -0.942841 deg/s,
      cmd heading: 356.013007 deg,
      new cmd heading: 355.941183 deg.

2021-08-14T18:13:57.979Z,1628964837.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:13:58.365Z,1628964838.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:13:58.365Z,1628964838.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:13:58.365Z,1628964838.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:13:58.366Z,1628964838.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:13:58.781Z,1628964838.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,0114F,186,80,80,83,FF
2021-08-14T18:13:58.781Z,1628964838.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:13:58.781Z,1628964838.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:13:58.783Z,1628964838.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:13:59.188Z,1628964839.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:00.001Z,1628964840.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,0111B,186,80,80,79,FF
2021-08-14T18:14:00.001Z,1628964840.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:00.005Z,1628964840.005 [Micromodem](INFO): Nmea in: $SNTTA,0.156337,,,,181400.69*46

2021-08-14T18:14:00.455Z,1628964840.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.240005 m, bearing: 355.455667 deg, deltaT: 4.933456 s, approachRate: -0.632413 m/s, LOS rate: -0.380716 deg/s, posRepo size: 4
2021-08-14T18:14:00.462Z,1628964840.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.240005 m,
      bearing: 355.455667 deg,
      approachRate: -0.632413 m/s,
      LOS rate: -0.380716 deg/s,
      cmd update: -1.522865 deg/s,
      cmd heading: 351.388085 deg,
      new cmd heading: 351.042563 deg.

2021-08-14T18:14:02.842Z,1628964842.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:03.209Z,1628964843.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:03.209Z,1628964843.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:03.209Z,1628964843.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:03.210Z,1628964843.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:03.653Z,1628964843.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,0111B,186,80,80,79,FF
2021-08-14T18:14:03.653Z,1628964843.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:03.654Z,1628964843.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:03.655Z,1628964843.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:04.037Z,1628964844.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:04.423Z,1628964844.423 [Micromodem](INFO): Nmea in: $SNTTA,0.110168,0.109587,,,181405.56*59

2021-08-14T18:14:04.833Z,1628964844.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,010E5,183,80,80,64,FF
2021-08-14T18:14:04.833Z,1628964844.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:05.262Z,1628964845.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.999985 m, bearing: 355.792149 deg, deltaT: 4.782735 s, approachRate: -0.677441 m/s, LOS rate: 0.070354 deg/s, posRepo size: 4
2021-08-14T18:14:05.263Z,1628964845.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.999985 m,
      bearing: 355.792149 deg,
      approachRate: -0.677441 m/s,
      LOS rate: 0.070354 deg/s,
      cmd update: 0.281414 deg/s,
      cmd heading: 344.067922 deg,
      new cmd heading: 343.511825 deg.

2021-08-14T18:14:07.721Z,1628964847.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:08.084Z,1628964848.084 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:08.085Z,1628964848.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:08.085Z,1628964848.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:08.087Z,1628964848.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:08.469Z,1628964848.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,010E5,183,80,80,64,FF
2021-08-14T18:14:08.469Z,1628964848.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:08.469Z,1628964848.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:08.471Z,1628964848.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:08.876Z,1628964848.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:09.705Z,1628964849.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,010A5,186,80,80,40,FF
2021-08-14T18:14:09.705Z,1628964849.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:09.708Z,1628964849.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181410.38*58

2021-08-14T18:14:10.183Z,1628964850.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.159988 m, bearing: 357.825414 deg, deltaT: 4.866551 s, approachRate: -0.789059 m/s, LOS rate: 0.417804 deg/s, posRepo size: 4
2021-08-14T18:14:10.185Z,1628964850.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.159988 m,
      bearing: 357.825414 deg,
      approachRate: -0.789059 m/s,
      LOS rate: 0.417804 deg/s,
      cmd update: 1.671217 deg/s,
      cmd heading: 345.437438 deg,
      new cmd heading: 345.555689 deg.

2021-08-14T18:14:12.564Z,1628964852.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:12.917Z,1628964852.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:12.917Z,1628964852.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:12.918Z,1628964852.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:12.919Z,1628964852.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:13.321Z,1628964853.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,010A5,186,80,80,40,FF
2021-08-14T18:14:13.321Z,1628964853.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:13.321Z,1628964853.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:13.323Z,1628964853.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:13.729Z,1628964853.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:14.563Z,1628964854.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181415.22*56

2021-08-14T18:14:15.361Z,1628964855.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:16.954Z,1628964856.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:16.954Z,1628964856.954 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:16.954Z,1628964856.954 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:14:18.222Z,1628964858.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:18.588Z,1628964858.588 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:18.589Z,1628964858.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:18.589Z,1628964858.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:18.591Z,1628964858.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:18.971Z,1628964858.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:18.971Z,1628964858.971 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:18.971Z,1628964858.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:18.975Z,1628964858.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:19.376Z,1628964859.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:20.179Z,1628964860.179 [Micromodem](INFO): Nmea in: $SNTTA,0.451266,0.451273,,,181420.88*54

2021-08-14T18:14:21.010Z,1628964861.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:22.622Z,1628964862.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:22.622Z,1628964862.622 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:22.622Z,1628964862.622 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:14:23.879Z,1628964863.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:24.229Z,1628964864.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:24.229Z,1628964864.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:24.230Z,1628964864.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:24.231Z,1628964864.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:24.653Z,1628964864.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:24.654Z,1628964864.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:24.654Z,1628964864.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:24.657Z,1628964864.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:25.059Z,1628964865.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:25.854Z,1628964865.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181426.56*55

2021-08-14T18:14:26.705Z,1628964866.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:28.273Z,1628964868.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:28.273Z,1628964868.273 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:28.273Z,1628964868.273 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:14:29.510Z,1628964869.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:29.883Z,1628964869.883 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:29.883Z,1628964869.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:29.883Z,1628964869.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:29.884Z,1628964869.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:30.293Z,1628964870.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,40,FF
2021-08-14T18:14:30.293Z,1628964870.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:30.293Z,1628964870.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:30.295Z,1628964870.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:30.688Z,1628964870.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:31.525Z,1628964871.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00FBB,186,80,80,44,FF
2021-08-14T18:14:31.526Z,1628964871.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:31.534Z,1628964871.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181432.20*51

2021-08-14T18:14:31.942Z,1628964871.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.119995 m, bearing: 359.460207 deg, deltaT: 21.847816 s, approachRate: -0.642627 m/s, LOS rate: 0.074826 deg/s, posRepo size: 4
2021-08-14T18:14:31.945Z,1628964871.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.119995 m,
      bearing: 359.460207 deg,
      approachRate: -0.642627 m/s,
      LOS rate: 0.074826 deg/s,
      cmd update: 0.299305 deg/s,
      cmd heading: 21.949838 deg,
      new cmd heading: 22.505133 deg.

2021-08-14T18:14:34.371Z,1628964874.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:34.725Z,1628964874.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:34.725Z,1628964874.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:34.725Z,1628964874.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:34.726Z,1628964874.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:35.137Z,1628964875.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00FBB,186,80,80,44,FF
2021-08-14T18:14:35.137Z,1628964875.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:35.138Z,1628964875.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:35.139Z,1628964875.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:35.539Z,1628964875.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:36.369Z,1628964876.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,00F8B,189,80,80,49,FF
2021-08-14T18:14:36.369Z,1628964876.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:36.372Z,1628964876.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181437.04*52

2021-08-14T18:14:36.791Z,1628964876.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.239990 m, bearing: 354.994902 deg, deltaT: 4.822530 s, approachRate: -0.597198 m/s, LOS rate: -0.925926 deg/s, posRepo size: 4
2021-08-14T18:14:36.793Z,1628964876.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.239990 m,
      bearing: 354.994902 deg,
      approachRate: -0.597198 m/s,
      LOS rate: -0.925926 deg/s,
      cmd update: -3.703703 deg/s,
      cmd heading: 23.394361 deg,
      new cmd heading: 23.500480 deg.

2021-08-14T18:14:39.195Z,1628964879.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:39.595Z,1628964879.595 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:39.609Z,1628964879.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:39.609Z,1628964879.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:39.610Z,1628964879.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:39.977Z,1628964879.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,00F8B,189,80,80,49,FF
2021-08-14T18:14:39.977Z,1628964879.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:39.977Z,1628964879.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:39.979Z,1628964879.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:40.381Z,1628964880.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:41.213Z,1628964881.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00F5D,189,80,80,82,FF
2021-08-14T18:14:41.213Z,1628964881.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:41.240Z,1628964881.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181441.88*57

2021-08-14T18:14:41.646Z,1628964881.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.479980 m, bearing: 354.089465 deg, deltaT: 4.819382 s, approachRate: -0.572690 m/s, LOS rate: -0.187874 deg/s, posRepo size: 4
2021-08-14T18:14:41.649Z,1628964881.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.479980 m,
      bearing: 354.089465 deg,
      approachRate: -0.572690 m/s,
      LOS rate: -0.187874 deg/s,
      cmd update: -0.751497 deg/s,
      cmd heading: 5.544013 deg,
      new cmd heading: 4.098162 deg.

2021-08-14T18:14:44.039Z,1628964884.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:44.429Z,1628964884.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:44.429Z,1628964884.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:44.430Z,1628964884.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:44.431Z,1628964884.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:44.829Z,1628964884.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00F5D,189,80,80,82,FF
2021-08-14T18:14:44.829Z,1628964884.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:44.829Z,1628964884.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:44.831Z,1628964884.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:45.236Z,1628964885.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:46.072Z,1628964886.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00F2E,186,80,80,90,FF
2021-08-14T18:14:46.074Z,1628964886.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:46.085Z,1628964886.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181446.73*54

2021-08-14T18:14:46.484Z,1628964886.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.659988 m, bearing: 0.113430 deg, deltaT: 4.915307 s, approachRate: -0.573716 m/s, LOS rate: 1.225553 deg/s, posRepo size: 4
2021-08-14T18:14:46.486Z,1628964886.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.659988 m,
      bearing: 0.113430 deg,
      approachRate: -0.573716 m/s,
      LOS rate: 1.225553 deg/s,
      cmd update: 4.902213 deg/s,
      cmd heading: 1.851376 deg,
      new cmd heading: 1.615631 deg.

2021-08-14T18:14:48.901Z,1628964888.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:49.269Z,1628964889.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:49.269Z,1628964889.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:49.269Z,1628964889.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:49.270Z,1628964889.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:49.677Z,1628964889.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00F2E,186,80,80,90,FF
2021-08-14T18:14:49.677Z,1628964889.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:49.677Z,1628964889.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:49.679Z,1628964889.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:50.115Z,1628964890.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:50.912Z,1628964890.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00EFB,186,80,80,A8,FF
2021-08-14T18:14:50.913Z,1628964890.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:50.915Z,1628964890.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181451.58*5B

2021-08-14T18:14:51.320Z,1628964891.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.599991 m, bearing: 358.972285 deg, deltaT: 4.770268 s, approachRate: -0.641473 m/s, LOS rate: -0.239222 deg/s, posRepo size: 4
2021-08-14T18:14:51.322Z,1628964891.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.599991 m,
      bearing: 358.972285 deg,
      approachRate: -0.641473 m/s,
      LOS rate: -0.239222 deg/s,
      cmd update: -0.956886 deg/s,
      cmd heading: 25.244664 deg,
      new cmd heading: 27.097725 deg.

2021-08-14T18:14:53.741Z,1628964893.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:54.145Z,1628964894.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:54.145Z,1628964894.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:54.145Z,1628964894.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:54.146Z,1628964894.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:54.522Z,1628964894.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00EFB,186,80,80,A8,FF
2021-08-14T18:14:54.522Z,1628964894.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:54.522Z,1628964894.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:54.525Z,1628964894.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:54.936Z,1628964894.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:55.345Z,1628964895.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00EFB,186,80,80,A8,FF
2021-08-14T18:14:55.346Z,1628964895.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:14:55.777Z,1628964895.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181456.43*56

2021-08-14T18:14:55.826Z,1628964895.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.599991 m, bearing: 351.059921 deg, deltaT: 4.457977 s, approachRate: 0.000000 m/s, LOS rate: -1.774878 deg/s, posRepo size: 4
2021-08-14T18:14:55.829Z,1628964895.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.599991 m,
      bearing: 351.059921 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.774878 deg/s,
      cmd update: -7.099511 deg/s,
      cmd heading: 20.989704 deg,
      new cmd heading: 20.570643 deg.

2021-08-14T18:14:58.224Z,1628964898.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:14:58.576Z,1628964898.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:14:58.577Z,1628964898.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:14:58.578Z,1628964898.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:14:58.579Z,1628964898.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:14:58.974Z,1628964898.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,00EFB,186,80,80,A8,FF
2021-08-14T18:14:58.974Z,1628964898.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:14:58.974Z,1628964898.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:14:58.976Z,1628964898.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:14:59.396Z,1628964899.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:14:59.797Z,1628964899.797 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:15:00.197Z,1628964900.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B6,000,00EA6,189,80,80,B0,FF
2021-08-14T18:15:00.198Z,1628964900.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:00.225Z,1628964900.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181500.88*53

2021-08-14T18:15:00.644Z,1628964900.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.500000 m, bearing: 353.683287 deg, deltaT: 4.869216 s, approachRate: -1.047395 m/s, LOS rate: 0.538766 deg/s, posRepo size: 4
2021-08-14T18:15:00.646Z,1628964900.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.500000 m,
      bearing: 353.683287 deg,
      approachRate: -1.047395 m/s,
      LOS rate: 0.538766 deg/s,
      cmd update: 2.155063 deg/s,
      cmd heading: 346.342073 deg,
      new cmd heading: 343.675794 deg.

2021-08-14T18:15:03.062Z,1628964903.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:03.413Z,1628964903.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:03.413Z,1628964903.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:03.414Z,1628964903.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:03.414Z,1628964903.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:03.817Z,1628964903.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B6,000,00EA6,189,80,80,B0,FF
2021-08-14T18:15:03.817Z,1628964903.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:03.818Z,1628964903.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:03.819Z,1628964903.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:04.233Z,1628964904.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:04.654Z,1628964904.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00E72,189,80,80,B0,FF
2021-08-14T18:15:04.654Z,1628964904.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:05.072Z,1628964905.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.380005 m, bearing: 0.800892 deg, deltaT: 4.444130 s, approachRate: -0.702049 m/s, LOS rate: 1.601572 deg/s, posRepo size: 4
2021-08-14T18:15:05.074Z,1628964905.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.380005 m,
      bearing: 0.800892 deg,
      approachRate: -0.702049 m/s,
      LOS rate: 1.601572 deg/s,
      cmd update: 6.406288 deg/s,
      cmd heading: 355.902654 deg,
      new cmd heading: 356.692577 deg.

2021-08-14T18:15:07.474Z,1628964907.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:07.865Z,1628964907.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:07.865Z,1628964907.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:07.865Z,1628964907.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:07.866Z,1628964907.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:08.261Z,1628964908.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00E72,189,80,80,B0,FF
2021-08-14T18:15:08.261Z,1628964908.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:08.261Z,1628964908.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:08.263Z,1628964908.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:08.685Z,1628964908.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:09.066Z,1628964909.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00E72,189,80,80,B0,FF
2021-08-14T18:15:09.066Z,1628964909.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:09.518Z,1628964909.518 [Micromodem](INFO): Nmea in: $SNTTA,0.136417,,,,181510.16*4D

2021-08-14T18:15:09.547Z,1628964909.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.380005 m, bearing: 350.876735 deg, deltaT: 4.404125 s, approachRate: 0.000000 m/s, LOS rate: -2.253375 deg/s, posRepo size: 4
2021-08-14T18:15:09.550Z,1628964909.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.380005 m,
      bearing: 350.876735 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.253375 deg/s,
      cmd update: -9.013500 deg/s,
      cmd heading: 23.980599 deg,
      new cmd heading: 26.914564 deg.

2021-08-14T18:15:11.975Z,1628964911.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:12.305Z,1628964912.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:12.305Z,1628964912.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:12.305Z,1628964912.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:12.306Z,1628964912.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:12.714Z,1628964912.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00E72,189,80,80,B0,FF
2021-08-14T18:15:12.715Z,1628964912.715 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:12.715Z,1628964912.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:12.718Z,1628964912.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:13.109Z,1628964913.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:13.933Z,1628964913.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00E16,186,80,80,A6,FF
2021-08-14T18:15:13.933Z,1628964913.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:13.936Z,1628964913.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181514.62*52

2021-08-14T18:15:14.402Z,1628964914.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.860016 m, bearing: 357.486856 deg, deltaT: 4.882124 s, approachRate: -1.130653 m/s, LOS rate: 1.353944 deg/s, posRepo size: 4
2021-08-14T18:15:14.409Z,1628964914.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.860016 m,
      bearing: 357.486856 deg,
      approachRate: -1.130653 m/s,
      LOS rate: 1.353944 deg/s,
      cmd update: 5.415774 deg/s,
      cmd heading: 339.748028 deg,
      new cmd heading: 336.079200 deg.

2021-08-14T18:15:16.807Z,1628964916.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:17.150Z,1628964917.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:17.150Z,1628964917.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:17.150Z,1628964917.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:17.151Z,1628964917.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:17.547Z,1628964917.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00E16,186,80,80,A6,FF
2021-08-14T18:15:17.548Z,1628964917.548 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:17.548Z,1628964917.548 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:17.554Z,1628964917.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:17.957Z,1628964917.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:18.355Z,1628964918.355 [Micromodem](INFO): Nmea in: $SNTTA,0.159782,0.199844,,,181519.46*50

2021-08-14T18:15:19.641Z,1628964919.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:21.185Z,1628964921.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,A6,FF
2021-08-14T18:15:21.185Z,1628964921.185 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,A6,FF
2021-08-14T18:15:21.185Z,1628964921.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:15:22.497Z,1628964922.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:22.805Z,1628964922.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:22.805Z,1628964922.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:22.805Z,1628964922.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:22.806Z,1628964922.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:23.205Z,1628964923.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,A6,FF
2021-08-14T18:15:23.205Z,1628964923.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:23.205Z,1628964923.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:23.207Z,1628964923.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:23.641Z,1628964923.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:24.014Z,1628964924.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,0003,E4
6,186,80,80,A6,FF
2021-08-14T18:15:24.014Z,1628964924.014 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0E9,0003,E4
6,186,80,80,A6,FF
2021-08-14T18:15:24.455Z,1628964924.455 [Micromodem](INFO): Nmea in: $SNTTA,,0.331322,,,181525.11*48

2021-08-14T18:15:25.243Z,1628964925.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:26.852Z,1628964926.852 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:15:28.133Z,1628964928.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:28.884Z,1628964928.884 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077857
2021-08-14T18:15:30.924Z,1628964930.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:31.293Z,1628964931.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:31.293Z,1628964931.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:31.293Z,1628964931.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:31.294Z,1628964931.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:31.693Z,1628964931.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,0003,E4
6,186,80,80,A6,FF
2021-08-14T18:15:31.693Z,1628964931.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:31.693Z,1628964931.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:31.695Z,1628964931.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:32.144Z,1628964932.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:32.510Z,1628964932.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,431,000,00D66,186,80,80,A6,FF
2021-08-14T18:15:32.510Z,1628964932.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:32.945Z,1628964932.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181533.60*55

2021-08-14T18:15:32.988Z,1628964932.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.300003 m, bearing: 350.033261 deg, deltaT: 18.568888 s, approachRate: -0.568694 m/s, LOS rate: -0.401402 deg/s, posRepo size: 4
2021-08-14T18:15:32.990Z,1628964932.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.300003 m,
      bearing: 350.033261 deg,
      approachRate: -0.568694 m/s,
      LOS rate: -0.401402 deg/s,
      cmd update: -1.605609 deg/s,
      cmd heading: 80.299705 deg,
      new cmd heading: 82.609484 deg.

2021-08-14T18:15:35.360Z,1628964935.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:35.729Z,1628964935.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:35.729Z,1628964935.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:35.729Z,1628964935.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:35.730Z,1628964935.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:36.165Z,1628964936.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
431,000,00D66,186,80,80,A6,FF
2021-08-14T18:15:36.165Z,1628964936.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:36.165Z,1628964936.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:36.167Z,1628964936.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:36.602Z,1628964936.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:36.961Z,1628964936.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D11,000,00D66,186,80,80,A6,FF
2021-08-14T18:15:36.962Z,1628964936.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:37.363Z,1628964937.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181538.07*5F

2021-08-14T18:15:37.396Z,1628964937.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.300003 m, bearing: 100.568764 deg, deltaT: 4.418561 s, approachRate: 0.000000 m/s, LOS rate: 25.016177 deg/s, posRepo size: 4
2021-08-14T18:15:37.397Z,1628964937.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.016177 deg/s. Setting heading cmd to target bearing of 100.568764deg and heading rate command to 0 deg/s.
2021-08-14T18:15:39.797Z,1628964939.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:40.177Z,1628964940.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:40.177Z,1628964940.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:40.177Z,1628964940.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:40.178Z,1628964940.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:40.612Z,1628964940.612 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D11,000,00D66,186,80,80,A6,FF
2021-08-14T18:15:40.612Z,1628964940.612 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:40.613Z,1628964940.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:40.614Z,1628964940.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:41.000Z,1628964941.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:41.799Z,1628964941.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00D3B,189,80,80,A0,FF
2021-08-14T18:15:41.800Z,1628964941.800 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:41.816Z,1628964941.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181542.52*52

2021-08-14T18:15:42.259Z,1628964942.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.720001 m, bearing: 121.078463 deg, deltaT: 4.878451 s, approachRate: -0.528857 m/s, LOS rate: 4.204142 deg/s, posRepo size: 4
2021-08-14T18:15:42.265Z,1628964942.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 121.078463 deg,
      approachRate: -0.528857 m/s,
      LOS rate: 4.204142 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 100.568764 deg,
      new cmd heading: 100.568764 deg.

2021-08-14T18:15:44.685Z,1628964944.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:45.025Z,1628964945.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:45.025Z,1628964945.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:45.025Z,1628964945.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:45.026Z,1628964945.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:45.433Z,1628964945.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00D3B,189,80,80,A0,FF
2021-08-14T18:15:45.433Z,1628964945.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:45.434Z,1628964945.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:45.435Z,1628964945.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:45.836Z,1628964945.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:46.238Z,1628964946.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00D3B,189,80,80,A0,FF
2021-08-14T18:15:46.238Z,1628964946.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:46.694Z,1628964946.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181547.34*57

2021-08-14T18:15:46.719Z,1628964946.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.720001 m, bearing: 82.511916 deg, deltaT: 4.448988 s, approachRate: 0.000000 m/s, LOS rate: -8.668611 deg/s, posRepo size: 4
2021-08-14T18:15:46.721Z,1628964946.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 82.511916 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.668611 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.911286 deg,
      new cmd heading: 158.817918 deg.

2021-08-14T18:15:49.083Z,1628964949.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:49.471Z,1628964949.471 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:49.471Z,1628964949.471 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:49.471Z,1628964949.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:49.472Z,1628964949.472 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:49.869Z,1628964949.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00D3B,189,80,80,A0,FF
2021-08-14T18:15:49.869Z,1628964949.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:49.869Z,1628964949.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:49.871Z,1628964949.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:50.284Z,1628964950.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:50.685Z,1628964950.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26B,000,00D54,189,80,80,A0,FF
2021-08-14T18:15:50.685Z,1628964950.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:51.113Z,1628964951.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181551.77*57

2021-08-14T18:15:51.132Z,1628964951.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 92.346254 deg, deltaT: 4.420199 s, approachRate: 0.339351 m/s, LOS rate: 2.224863 deg/s, posRepo size: 4
2021-08-14T18:15:51.134Z,1628964951.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 92.346254 deg,
      approachRate: 0.339351 m/s,
      LOS rate: 2.224863 deg/s,
      cmd update: 8.899453 deg/s,
      cmd heading: 101.014661 deg,
      new cmd heading: 96.053369 deg.

2021-08-14T18:15:53.526Z,1628964953.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:53.909Z,1628964953.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:53.909Z,1628964953.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:53.909Z,1628964953.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:53.910Z,1628964953.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:54.317Z,1628964954.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26B,000,00D54,189,80,80,A0,FF
2021-08-14T18:15:54.318Z,1628964954.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:54.318Z,1628964954.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:54.319Z,1628964954.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:54.721Z,1628964954.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:55.118Z,1628964955.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,00D54,189,80,80,A0,FF
2021-08-14T18:15:55.118Z,1628964955.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:15:55.565Z,1628964955.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181556.22*50

2021-08-14T18:15:55.636Z,1628964955.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 107.450494 deg, deltaT: 4.434702 s, approachRate: 0.000000 m/s, LOS rate: 3.405920 deg/s, posRepo size: 4
2021-08-14T18:15:55.638Z,1628964955.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 107.450494 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.405920 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.551585 deg,
      new cmd heading: 144.742853 deg.

2021-08-14T18:15:57.961Z,1628964957.961 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:15:57.976Z,1628964957.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:15:58.353Z,1628964958.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:15:58.354Z,1628964958.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:15:58.354Z,1628964958.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:15:58.355Z,1628964958.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:15:58.761Z,1628964958.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,00D54,189,80,80,A0,FF
2021-08-14T18:15:58.761Z,1628964958.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:15:58.761Z,1628964958.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:15:58.763Z,1628964958.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:15:59.176Z,1628964959.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:15:59.609Z,1628964959.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,00D54,189,80,80,A0,FF
2021-08-14T18:15:59.610Z,1628964959.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:00.001Z,1628964960.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181600.67*51

2021-08-14T18:16:00.067Z,1628964960.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 89.621385 deg, deltaT: 4.554651 s, approachRate: 0.000000 m/s, LOS rate: -3.914484 deg/s, posRepo size: 4
2021-08-14T18:16:00.092Z,1628964960.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 89.621385 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.914484 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 195.129735 deg,
      new cmd heading: 199.322235 deg.

2021-08-14T18:16:01.688Z,1628964961.688 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:16:02.447Z,1628964962.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:02.797Z,1628964962.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:02.797Z,1628964962.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:02.797Z,1628964962.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:02.798Z,1628964962.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:03.209Z,1628964963.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,00D54,189,80,80,A0,FF
2021-08-14T18:16:03.209Z,1628964963.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:03.209Z,1628964963.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:03.211Z,1628964963.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:03.625Z,1628964963.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:04.411Z,1628964964.411 [Micromodem](INFO): Nmea in: $SNTTA,0.332342,0.332442,,,181605.11*52

2021-08-14T18:16:05.255Z,1628964965.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:06.841Z,1628964966.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A0,FF
2021-08-14T18:16:06.842Z,1628964966.842 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A0,FF
2021-08-14T18:16:06.842Z,1628964966.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:16:06.848Z,1628964966.848 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:16:08.132Z,1628964968.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:08.453Z,1628964968.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:08.453Z,1628964968.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:08.453Z,1628964968.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:08.454Z,1628964968.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:08.866Z,1628964968.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A0,FF
2021-08-14T18:16:08.867Z,1628964968.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:08.867Z,1628964968.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:08.870Z,1628964968.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:09.270Z,1628964969.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:09.690Z,1628964969.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,0E4
4,189,80,80,A0,FF
2021-08-14T18:16:09.690Z,1628964969.690 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E13,000,0E4
4,189,80,80,A0,FF
2021-08-14T18:16:10.115Z,1628964970.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181610.78*5E

2021-08-14T18:16:10.919Z,1628964970.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:11.691Z,1628964971.691 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:16:13.783Z,1628964973.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:14.540Z,1628964974.540 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.085822
2021-08-14T18:16:16.636Z,1628964976.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:16.941Z,1628964976.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:16.941Z,1628964976.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:16.941Z,1628964976.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:16.942Z,1628964976.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:17.350Z,1628964977.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,0E4
4,189,80,80,A0,FF
2021-08-14T18:16:17.350Z,1628964977.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:17.350Z,1628964977.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:17.351Z,1628964977.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:17.756Z,1628964977.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:18.610Z,1628964978.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181619.25*5F

2021-08-14T18:16:19.403Z,1628964979.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:20.981Z,1628964980.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A0,FF
2021-08-14T18:16:20.981Z,1628964980.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A0,FF
2021-08-14T18:16:20.982Z,1628964980.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:16:22.236Z,1628964982.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:22.609Z,1628964982.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:22.609Z,1628964982.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:22.609Z,1628964982.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:22.610Z,1628964982.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:22.997Z,1628964982.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A0,FF
2021-08-14T18:16:22.997Z,1628964982.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:22.997Z,1628964982.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:22.999Z,1628964982.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:23.414Z,1628964983.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:23.681Z,1628964983.681 [CTD_Seabird](ERROR): Failed to parse device response: .03
2021-08-14T18:16:24.233Z,1628964984.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00E7C,186,80,80,A9,FF
2021-08-14T18:16:24.234Z,1628964984.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:24.237Z,1628964984.237 [Micromodem](INFO): Nmea in: $SNTTA,0.437795,,,,181624.90*4A

2021-08-14T18:16:24.711Z,1628964984.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.980011 m, bearing: 79.824516 deg, deltaT: 24.598404 s, approachRate: 0.721998 m/s, LOS rate: -0.398273 deg/s, posRepo size: 4
2021-08-14T18:16:24.714Z,1628964984.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.980011 m,
      bearing: 79.824516 deg,
      approachRate: 0.721998 m/s,
      LOS rate: -0.398273 deg/s,
      cmd update: -1.593090 deg/s,
      cmd heading: 259.895169 deg,
      new cmd heading: 255.101421 deg.

2021-08-14T18:16:26.706Z,1628964986.706 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:16:27.067Z,1628964987.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:27.441Z,1628964987.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:27.441Z,1628964987.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:27.441Z,1628964987.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:27.442Z,1628964987.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:27.857Z,1628964987.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00E7C,186,80,80,A9,FF
2021-08-14T18:16:27.857Z,1628964987.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:27.858Z,1628964987.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:27.859Z,1628964987.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:28.261Z,1628964988.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:29.065Z,1628964989.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E8D,189,80,80,89,FF
2021-08-14T18:16:29.066Z,1628964989.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:29.496Z,1628964989.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.000015 m, bearing: 24.701287 deg, deltaT: 4.759915 s, approachRate: 0.214290 m/s, LOS rate: -11.580717 deg/s, posRepo size: 4
2021-08-14T18:16:29.497Z,1628964989.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.580717 deg/s. Setting heading cmd to target bearing of 24.701287deg and heading rate command to 0 deg/s.
2021-08-14T18:16:31.896Z,1628964991.896 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:16:31.911Z,1628964991.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:32.293Z,1628964992.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:32.293Z,1628964992.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:32.293Z,1628964992.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:32.294Z,1628964992.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:32.693Z,1628964992.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E8D,189,80,80,89,FF
2021-08-14T18:16:32.693Z,1628964992.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:32.694Z,1628964992.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:32.695Z,1628964992.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:33.101Z,1628964993.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:33.508Z,1628964993.508 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E8D,189,80,80,89,FF
2021-08-14T18:16:33.509Z,1628964993.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:33.941Z,1628964993.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181634.60*51

2021-08-14T18:16:33.996Z,1628964993.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.000015 m, bearing: 32.830663 deg, deltaT: 4.457985 s, approachRate: 0.000000 m/s, LOS rate: 1.823554 deg/s, posRepo size: 4
2021-08-14T18:16:33.998Z,1628964993.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.000015 m,
      bearing: 32.830663 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.823554 deg/s,
      cmd update: 7.294216 deg/s,
      cmd heading: 24.701287 deg,
      new cmd heading: 24.701287 deg.

2021-08-14T18:16:36.377Z,1628964996.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:36.733Z,1628964996.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:36.733Z,1628964996.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:36.733Z,1628964996.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:36.734Z,1628964996.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:37.137Z,1628964997.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E8D,189,80,80,89,FF
2021-08-14T18:16:37.137Z,1628964997.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:37.137Z,1628964997.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:37.139Z,1628964997.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:37.560Z,1628964997.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:38.377Z,1628964998.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00EA4,189,80,80,60,FF
2021-08-14T18:16:38.377Z,1628964998.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:38.381Z,1628964998.381 [Micromodem](INFO): Nmea in: $SNTTA,0.126801,,,,181639.04*4C

2021-08-14T18:16:38.798Z,1628964998.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.380005 m, bearing: 27.180249 deg, deltaT: 4.922796 s, approachRate: 0.280326 m/s, LOS rate: -1.147806 deg/s, posRepo size: 4
2021-08-14T18:16:38.800Z,1628964998.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.380005 m,
      bearing: 27.180249 deg,
      approachRate: 0.280326 m/s,
      LOS rate: -1.147806 deg/s,
      cmd update: -4.591223 deg/s,
      cmd heading: 60.602521 deg,
      new cmd heading: 63.073816 deg.

2021-08-14T18:16:41.195Z,1628965001.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:41.618Z,1628965001.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:41.618Z,1628965001.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:41.621Z,1628965001.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:41.634Z,1628965001.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:41.985Z,1628965001.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00EA4,189,80,80,60,FF
2021-08-14T18:16:41.985Z,1628965001.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:41.985Z,1628965001.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:41.987Z,1628965001.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:42.401Z,1628965002.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:42.805Z,1628965002.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00EA4,189,80,80,60,FF
2021-08-14T18:16:42.805Z,1628965002.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:43.233Z,1628965003.233 [Micromodem](INFO): Nmea in: $SNTTA,0.127094,,,,181643.89*41

2021-08-14T18:16:43.256Z,1628965003.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.380005 m, bearing: 7.286591 deg, deltaT: 4.403400 s, approachRate: 0.000000 m/s, LOS rate: -4.517795 deg/s, posRepo size: 4
2021-08-14T18:16:43.258Z,1628965003.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.380005 m,
      bearing: 7.286591 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.517795 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 40.490245 deg,
      new cmd heading: 38.579396 deg.

2021-08-14T18:16:45.678Z,1628965005.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:46.027Z,1628965006.027 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:46.027Z,1628965006.027 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:46.028Z,1628965006.028 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:46.029Z,1628965006.029 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:46.429Z,1628965006.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00EA4,189,80,80,60,FF
2021-08-14T18:16:46.429Z,1628965006.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:46.429Z,1628965006.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:46.431Z,1628965006.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:46.841Z,1628965006.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:46.881Z,1628965006.881 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:16:47.670Z,1628965007.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00E9B,189,80,80,B0,FF
2021-08-14T18:16:47.670Z,1628965007.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:47.673Z,1628965007.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181648.34*5B

2021-08-14T18:16:48.128Z,1628965008.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.840012 m, bearing: 348.763447 deg, deltaT: 4.872037 s, approachRate: -0.110835 m/s, LOS rate: -3.801928 deg/s, posRepo size: 4
2021-08-14T18:16:48.130Z,1628965008.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.840012 m,
      bearing: 348.763447 deg,
      approachRate: -0.110835 m/s,
      LOS rate: -3.801928 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 341.802024 deg,
      new cmd heading: 337.080372 deg.

2021-08-14T18:16:50.533Z,1628965010.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:50.876Z,1628965010.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:50.876Z,1628965010.876 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:50.877Z,1628965010.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:50.877Z,1628965010.877 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:51.277Z,1628965011.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00E9B,189,80,80,B0,FF
2021-08-14T18:16:51.277Z,1628965011.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:51.277Z,1628965011.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:51.279Z,1628965011.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:51.695Z,1628965011.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:52.134Z,1628965012.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,00E81,188,80,80,B0,FF
2021-08-14T18:16:52.134Z,1628965012.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:52.530Z,1628965012.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181653.18*5F

2021-08-14T18:16:52.557Z,1628965012.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.279999 m, bearing: 350.802395 deg, deltaT: 4.456688 s, approachRate: -0.350039 m/s, LOS rate: 0.457503 deg/s, posRepo size: 4
2021-08-14T18:16:52.559Z,1628965012.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.279999 m,
      bearing: 350.802395 deg,
      approachRate: -0.350039 m/s,
      LOS rate: 0.457503 deg/s,
      cmd update: 1.830012 deg/s,
      cmd heading: 288.224195 deg,
      new cmd heading: 283.875203 deg.

2021-08-14T18:16:54.952Z,1628965014.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:55.337Z,1628965015.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:55.337Z,1628965015.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:55.337Z,1628965015.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:55.338Z,1628965015.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:16:55.721Z,1628965015.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,00E81,188,80,80,B0,FF
2021-08-14T18:16:55.721Z,1628965015.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:16:55.721Z,1628965015.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:16:55.723Z,1628965015.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:16:56.152Z,1628965016.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:16:56.534Z,1628965016.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,009B0,189,80,80,B8,FF
2021-08-14T18:16:56.534Z,1628965016.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:16:56.977Z,1628965016.977 [Micromodem](INFO): Nmea in: $SNTTA,0.146956,,,,181657.63*40

2021-08-14T18:16:57.003Z,1628965017.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 341.593333 deg, deltaT: 4.453111 s, approachRate: -16.613104 m/s, LOS rate: -2.068006 deg/s, posRepo size: 4
2021-08-14T18:16:57.005Z,1628965017.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.300003 m,
      bearing: 341.593333 deg,
      approachRate: -16.613104 m/s,
      LOS rate: -2.068006 deg/s,
      cmd update: -8.272026 deg/s,
      cmd heading: 296.365698 deg,
      new cmd heading: 297.023231 deg.

2021-08-14T18:16:59.379Z,1628965019.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:16:59.766Z,1628965019.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:16:59.766Z,1628965019.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:16:59.766Z,1628965019.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:16:59.767Z,1628965019.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:00.178Z,1628965020.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,009B0,189,80,80,B8,FF
2021-08-14T18:17:00.179Z,1628965020.179 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:00.179Z,1628965020.179 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:00.181Z,1628965020.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:00.620Z,1628965020.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:00.990Z,1628965020.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,009B0,189,80,80,B8,FF
2021-08-14T18:17:00.990Z,1628965020.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:01.421Z,1628965021.421 [Micromodem](INFO): Nmea in: $SNTTA,0.127746,,,,181702.08*44

2021-08-14T18:17:01.457Z,1628965021.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 344.301694 deg, deltaT: 4.389013 s, approachRate: 0.000000 m/s, LOS rate: 0.617077 deg/s, posRepo size: 4
2021-08-14T18:17:01.459Z,1628965021.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.300003 m,
      bearing: 344.301694 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.617077 deg/s,
      cmd update: 2.468310 deg/s,
      cmd heading: 260.235731 deg,
      new cmd heading: 256.551991 deg.

2021-08-14T18:17:03.841Z,1628965023.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:04.226Z,1628965024.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:04.226Z,1628965024.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:04.227Z,1628965024.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:04.228Z,1628965024.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:04.653Z,1628965024.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,009B0,189,80,80,B8,FF
2021-08-14T18:17:04.653Z,1628965024.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:04.653Z,1628965024.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:04.655Z,1628965024.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:05.090Z,1628965025.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:05.832Z,1628965025.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:05.833Z,1628965025.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:05.856Z,1628965025.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181706.56*54

2021-08-14T18:17:06.284Z,1628965026.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.139999 m, bearing: 342.658570 deg, deltaT: 4.889473 s, approachRate: 13.670184 m/s, LOS rate: -0.336054 deg/s, posRepo size: 4
2021-08-14T18:17:06.286Z,1628965026.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.139999 m,
      bearing: 342.658570 deg,
      approachRate: 13.670184 m/s,
      LOS rate: -0.336054 deg/s,
      cmd update: -1.344214 deg/s,
      cmd heading: 272.357209 deg,
      new cmd heading: 273.249155 deg.

2021-08-14T18:17:08.699Z,1628965028.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:09.062Z,1628965029.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:09.063Z,1628965029.063 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:09.063Z,1628965029.063 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:09.064Z,1628965029.064 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:09.469Z,1628965029.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:09.469Z,1628965029.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:09.469Z,1628965029.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:09.471Z,1628965029.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:09.873Z,1628965029.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:10.273Z,1628965030.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE2,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:10.274Z,1628965030.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:10.709Z,1628965030.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181711.38*5A

2021-08-14T18:17:10.762Z,1628965030.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.139999 m, bearing: 336.545741 deg, deltaT: 4.422885 s, approachRate: 0.000000 m/s, LOS rate: -1.382091 deg/s, posRepo size: 4
2021-08-14T18:17:10.765Z,1628965030.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.139999 m,
      bearing: 336.545741 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.382091 deg/s,
      cmd update: -5.528363 deg/s,
      cmd heading: 266.417904 deg,
      new cmd heading: 265.851023 deg.

2021-08-14T18:17:13.127Z,1628965033.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:13.505Z,1628965033.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:13.505Z,1628965033.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:13.505Z,1628965033.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:13.506Z,1628965033.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:13.919Z,1628965033.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE2,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:13.919Z,1628965033.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:13.920Z,1628965033.920 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:13.922Z,1628965033.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:14.325Z,1628965034.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:14.724Z,1628965034.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:14.725Z,1628965034.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:15.154Z,1628965035.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181715.83*5E

2021-08-14T18:17:15.170Z,1628965035.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.139999 m, bearing: 286.834942 deg, deltaT: 4.438586 s, approachRate: 0.000000 m/s, LOS rate: -11.199693 deg/s, posRepo size: 4
2021-08-14T18:17:15.172Z,1628965035.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.139999 m,
      bearing: 286.834942 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.199693 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 241.989749 deg,
      new cmd heading: 239.721152 deg.

2021-08-14T18:17:17.626Z,1628965037.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:17.953Z,1628965037.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:17.953Z,1628965037.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:17.953Z,1628965037.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:17.954Z,1628965037.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:18.361Z,1628965038.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:18.361Z,1628965038.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:18.361Z,1628965038.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:18.363Z,1628965038.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:18.769Z,1628965038.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:19.161Z,1628965039.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B64,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:19.162Z,1628965039.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:19.625Z,1628965039.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181720.27*56

2021-08-14T18:17:19.682Z,1628965039.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.139999 m, bearing: 343.535347 deg, deltaT: 4.433354 s, approachRate: 0.000000 m/s, LOS rate: 12.789505 deg/s, posRepo size: 4
2021-08-14T18:17:19.684Z,1628965039.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.789505 deg/s. Setting heading cmd to target bearing of 343.535347deg and heading rate command to 0 deg/s.
2021-08-14T18:17:22.011Z,1628965042.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:22.397Z,1628965042.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:22.397Z,1628965042.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:22.397Z,1628965042.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:22.398Z,1628965042.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:22.797Z,1628965042.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B64,000,00E0A,185,80,80,B3,FF
2021-08-14T18:17:22.798Z,1628965042.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:22.798Z,1628965042.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:22.799Z,1628965042.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:23.205Z,1628965043.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:24.029Z,1628965044.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181724.71*51

2021-08-14T18:17:24.861Z,1628965044.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:26.433Z,1628965046.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,185,80,80,B3,FF
2021-08-14T18:17:26.433Z,1628965046.433 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,185,80,80,B3,FF
2021-08-14T18:17:26.433Z,1628965046.433 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:17:27.697Z,1628965047.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:28.063Z,1628965048.063 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:28.064Z,1628965048.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:28.065Z,1628965048.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:28.066Z,1628965048.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:28.457Z,1628965048.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,185,80,80,B3,FF
2021-08-14T18:17:28.457Z,1628965048.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:28.457Z,1628965048.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:28.459Z,1628965048.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:28.873Z,1628965048.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:29.262Z,1628965049.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,0003,E4
A,185,80,80,B3,FF
2021-08-14T18:17:29.262Z,1628965049.262 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,DD7,0003,E4
A,185,80,80,B3,FF
2021-08-14T18:17:29.690Z,1628965049.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181730.36*57

2021-08-14T18:17:30.502Z,1628965050.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:33.319Z,1628965053.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:34.156Z,1628965054.156 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.089790
2021-08-14T18:17:36.195Z,1628965056.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:36.542Z,1628965056.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:36.542Z,1628965056.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:36.542Z,1628965056.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:36.544Z,1628965056.544 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:36.937Z,1628965056.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,0003,E4
A,185,80,80,B3,FF
2021-08-14T18:17:36.937Z,1628965056.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:36.937Z,1628965056.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:36.939Z,1628965056.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:37.348Z,1628965057.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:37.754Z,1628965057.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,00D79,185,80,80,B3,FF
2021-08-14T18:17:37.754Z,1628965057.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:38.189Z,1628965058.189 [Micromodem](INFO): Nmea in: $SNTTA,0.114985,,,,181738.84*48

2021-08-14T18:17:38.237Z,1628965058.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 308.241902 deg, deltaT: 18.595572 s, approachRate: -0.467853 m/s, LOS rate: -1.897949 deg/s, posRepo size: 4
2021-08-14T18:17:38.239Z,1628965058.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 308.241902 deg,
      approachRate: -0.467853 m/s,
      LOS rate: -1.897949 deg/s,
      cmd update: -7.591795 deg/s,
      cmd heading: 343.535347 deg,
      new cmd heading: 343.535347 deg.

2021-08-14T18:17:40.627Z,1628965060.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:40.979Z,1628965060.979 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:40.979Z,1628965060.979 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:40.979Z,1628965060.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:40.982Z,1628965060.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:41.390Z,1628965061.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,00D79,185,80,80,B3,FF
2021-08-14T18:17:41.390Z,1628965061.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:41.390Z,1628965061.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:41.392Z,1628965061.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:41.792Z,1628965061.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:42.198Z,1628965062.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B26,000,00D79,185,80,80,B3,FF
2021-08-14T18:17:42.198Z,1628965062.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:42.645Z,1628965062.645 [Micromodem](INFO): Nmea in: $SNTTA,0.122674,,,,181743.30*4F

2021-08-14T18:17:42.688Z,1628965062.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 343.372625 deg, deltaT: 4.453460 s, approachRate: 0.000000 m/s, LOS rate: 7.888411 deg/s, posRepo size: 4
2021-08-14T18:17:42.690Z,1628965062.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 343.372625 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.888411 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 309.720876 deg,
      new cmd heading: 306.522847 deg.

2021-08-14T18:17:45.035Z,1628965065.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:45.429Z,1628965065.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:45.430Z,1628965065.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:45.430Z,1628965065.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:45.431Z,1628965065.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:45.845Z,1628965065.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B26,000,00D79,185,80,80,B3,FF
2021-08-14T18:17:45.845Z,1628965065.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:45.845Z,1628965065.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:45.847Z,1628965065.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:46.233Z,1628965066.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:46.656Z,1628965066.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,00D79,185,80,80,B3,FF
2021-08-14T18:17:46.659Z,1628965066.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:47.081Z,1628965067.081 [Micromodem](INFO): Nmea in: $SNTTA,0.050674,,,,181747.75*4E

2021-08-14T18:17:47.124Z,1628965067.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 341.972409 deg, deltaT: 4.465301 s, approachRate: 0.000000 m/s, LOS rate: -0.313577 deg/s, posRepo size: 4
2021-08-14T18:17:47.126Z,1628965067.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 341.972409 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.313577 deg/s,
      cmd update: -1.254308 deg/s,
      cmd heading: 3.345937 deg,
      new cmd heading: 7.768969 deg.

2021-08-14T18:17:49.490Z,1628965069.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:49.877Z,1628965069.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:49.877Z,1628965069.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:49.877Z,1628965069.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:49.878Z,1628965069.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:50.269Z,1628965070.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,00D79,185,80,80,B3,FF
2021-08-14T18:17:50.269Z,1628965070.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:50.269Z,1628965070.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:50.271Z,1628965070.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:50.679Z,1628965070.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:51.082Z,1628965071.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00D29,185,80,80,B3,FF
2021-08-14T18:17:51.082Z,1628965071.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:51.522Z,1628965071.522 [Micromodem](INFO): Nmea in: $SNTTA,0.111913,,,,181752.18*4B

2021-08-14T18:17:51.609Z,1628965071.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.640015 m, bearing: 354.454989 deg, deltaT: 4.400439 s, approachRate: -1.090798 m/s, LOS rate: 2.836667 deg/s, posRepo size: 4
2021-08-14T18:17:51.611Z,1628965071.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.640015 m,
      bearing: 354.454989 deg,
      approachRate: -1.090798 m/s,
      LOS rate: 2.836667 deg/s,
      cmd update: 11.346668 deg/s,
      cmd heading: 357.830820 deg,
      new cmd heading: 357.238343 deg.

2021-08-14T18:17:53.949Z,1628965073.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:54.309Z,1628965074.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:54.309Z,1628965074.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:54.309Z,1628965074.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:54.310Z,1628965074.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:54.729Z,1628965074.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00D29,185,80,80,B3,FF
2021-08-14T18:17:54.729Z,1628965074.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:54.729Z,1628965074.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:54.731Z,1628965074.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:55.133Z,1628965075.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:55.534Z,1628965075.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00D00,185,80,80,B3,FF
2021-08-14T18:17:55.535Z,1628965075.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:17:55.961Z,1628965075.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181756.63*57

2021-08-14T18:17:56.005Z,1628965076.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.180008 m, bearing: 349.330244 deg, deltaT: 4.483491 s, approachRate: -0.548681 m/s, LOS rate: -1.143026 deg/s, posRepo size: 4
2021-08-14T18:17:56.007Z,1628965076.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.180008 m,
      bearing: 349.330244 deg,
      approachRate: -0.548681 m/s,
      LOS rate: -1.143026 deg/s,
      cmd update: -4.572103 deg/s,
      cmd heading: 48.702982 deg,
      new cmd heading: 53.116178 deg.

2021-08-14T18:17:58.413Z,1628965078.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:17:58.767Z,1628965078.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:17:58.767Z,1628965078.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:17:58.767Z,1628965078.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:17:58.768Z,1628965078.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:17:59.165Z,1628965079.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00D00,185,80,80,B3,FF
2021-08-14T18:17:59.165Z,1628965079.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:17:59.165Z,1628965079.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:17:59.167Z,1628965079.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:17:59.609Z,1628965079.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:17:59.974Z,1628965079.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,00CD5,185,80,80,B3,FF
2021-08-14T18:17:59.975Z,1628965079.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:00.409Z,1628965080.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181801.07*58

2021-08-14T18:18:00.464Z,1628965080.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 347.755175 deg, deltaT: 4.377812 s, approachRate: -0.589336 m/s, LOS rate: -0.359785 deg/s, posRepo size: 4
2021-08-14T18:18:00.466Z,1628965080.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 347.755175 deg,
      approachRate: -0.589336 m/s,
      LOS rate: -0.359785 deg/s,
      cmd update: -1.439138 deg/s,
      cmd heading: 28.668598 deg,
      new cmd heading: 26.536956 deg.

2021-08-14T18:18:02.865Z,1628965082.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:03.201Z,1628965083.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:03.201Z,1628965083.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:03.201Z,1628965083.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:03.202Z,1628965083.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:03.630Z,1628965083.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,00CD5,185,80,80,B3,FF
2021-08-14T18:18:03.630Z,1628965083.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:03.630Z,1628965083.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:03.633Z,1628965083.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:04.029Z,1628965084.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:04.415Z,1628965084.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,00CD5,185,80,80,B3,FF
2021-08-14T18:18:04.417Z,1628965084.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:04.849Z,1628965084.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181805.54*5A

2021-08-14T18:18:04.896Z,1628965084.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 347.290039 deg, deltaT: 4.506024 s, approachRate: 0.000000 m/s, LOS rate: -0.103225 deg/s, posRepo size: 4
2021-08-14T18:18:04.898Z,1628965084.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 347.290039 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.103225 deg/s,
      cmd update: -0.412901 deg/s,
      cmd heading: 22.183962 deg,
      new cmd heading: 21.625110 deg.

2021-08-14T18:18:07.266Z,1628965087.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:07.653Z,1628965087.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:07.653Z,1628965087.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:07.653Z,1628965087.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:07.654Z,1628965087.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:08.057Z,1628965088.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,00CD5,185,80,80,B3,FF
2021-08-14T18:18:08.057Z,1628965088.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:08.058Z,1628965088.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:08.064Z,1628965088.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:08.457Z,1628965088.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:09.274Z,1628965089.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181809.97*59

2021-08-14T18:18:10.177Z,1628965090.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:10.477Z,1628965090.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,055E2,189,80,80,A7,FF
2021-08-14T18:18:10.478Z,1628965090.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:10.919Z,1628965090.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1281.660034 m, bearing: 349.195798 deg, deltaT: 5.991500 s, approachRate: 187.275314 m/s, LOS rate: 0.318077 deg/s, posRepo size: 4
2021-08-14T18:18:10.921Z,1628965090.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1281.660034 m,
      bearing: 349.195798 deg,
      approachRate: 187.275314 m/s,
      LOS rate: 0.318077 deg/s,
      cmd update: 1.272309 deg/s,
      cmd heading: 19.710023 deg,
      new cmd heading: 19.534827 deg.

2021-08-14T18:18:13.319Z,1628965093.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:13.705Z,1628965093.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:13.705Z,1628965093.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:13.705Z,1628965093.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:13.706Z,1628965093.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:14.149Z,1628965094.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,055E2,189,80,80,A7,FF
2021-08-14T18:18:14.149Z,1628965094.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:14.149Z,1628965094.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:14.151Z,1628965094.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:14.615Z,1628965094.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:14.985Z,1628965094.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,00C54,189,80,80,BF,FF
2021-08-14T18:18:14.986Z,1628965094.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:15.409Z,1628965095.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181816.06*5F

2021-08-14T18:18:15.432Z,1628965095.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.860001 m, bearing: 347.045846 deg, deltaT: 4.516909 s, approachRate: -250.126816 m/s, LOS rate: -0.475979 deg/s, posRepo size: 4
2021-08-14T18:18:15.434Z,1628965095.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.860001 m,
      bearing: 347.045846 deg,
      approachRate: -250.126816 m/s,
      LOS rate: -0.475979 deg/s,
      cmd update: -1.903915 deg/s,
      cmd heading: 25.453268 deg,
      new cmd heading: 25.991079 deg.

2021-08-14T18:18:17.865Z,1628965097.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:17.865Z,1628965097.865 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T18:18:17.865Z,1628965097.865 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T18:18:17.866Z,1628965097.866 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T18:18:17.866Z,1628965097.866 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T18:18:17.866Z,1628965097.866 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T18:18:18.314Z,1628965098.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:18.314Z,1628965098.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:18.314Z,1628965098.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:18.315Z,1628965098.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:18.340Z,1628965098.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,00C54,189,80,80,BF,FF
2021-08-14T18:18:18.340Z,1628965098.340 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:18.340Z,1628965098.340 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:18.342Z,1628965098.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:18.760Z,1628965098.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:18.945Z,1628965098.945 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00
2021-08-14T18:18:18.945Z,1628965098.945 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:18:19.169Z,1628965099.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,00C31,189,80,80,C4,FF
2021-08-14T18:18:19.170Z,1628965099.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:19.172Z,1628965099.172 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:18:19.617Z,1628965099.617 [Micromodem](INFO): Nmea in: $CADRQ,181820,1,10,0,64,1*74

2021-08-14T18:18:19.618Z,1628965099.618 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00*35

2021-08-14T18:18:19.739Z,1628965099.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.759995 m, bearing: 347.700533 deg, deltaT: 4.227969 s, approachRate: -0.496694 m/s, LOS rate: 0.154847 deg/s, posRepo size: 4
2021-08-14T18:18:19.747Z,1628965099.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.759995 m,
      bearing: 347.700533 deg,
      approachRate: -0.496694 m/s,
      LOS rate: 0.154847 deg/s,
      cmd update: 0.619387 deg/s,
      cmd heading: 17.405697 deg,
      new cmd heading: 16.447436 deg.

2021-08-14T18:18:20.001Z,1628965100.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181820.25*5B

2021-08-14T18:18:20.001Z,1628965100.001 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,181820.25*5B

2021-08-14T18:18:21.365Z,1628965101.365 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T18:18:21.770Z,1628965101.770 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T18:18:21.814Z,1628965101.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:22.169Z,1628965102.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:22.169Z,1628965102.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:22.170Z,1628965102.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:22.171Z,1628965102.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:22.176Z,1628965102.176 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T18:18:22.599Z,1628965102.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,00C31,189,80,80,C4,FF
2021-08-14T18:18:22.599Z,1628965102.599 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:22.604Z,1628965102.604 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:22.612Z,1628965102.612 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,181821.545460,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*51

2021-08-14T18:18:22.613Z,1628965102.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:22.977Z,1628965102.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:23.385Z,1628965103.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,00C31,189,80,80,C4,FF
2021-08-14T18:18:23.386Z,1628965103.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:23.811Z,1628965103.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181824.52*5F

2021-08-14T18:18:23.864Z,1628965103.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.759995 m, bearing: 348.707877 deg, deltaT: 4.189676 s, approachRate: 0.000000 m/s, LOS rate: 0.240435 deg/s, posRepo size: 4
2021-08-14T18:18:23.866Z,1628965103.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.759995 m,
      bearing: 348.707877 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.240435 deg/s,
      cmd update: 0.961739 deg/s,
      cmd heading: 19.989983 deg,
      new cmd heading: 20.272113 deg.

2021-08-14T18:18:26.482Z,1628965106.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:26.742Z,1628965106.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:26.742Z,1628965106.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:26.742Z,1628965106.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:26.743Z,1628965106.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:27.117Z,1628965107.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,00C31,189,80,80,C4,FF
2021-08-14T18:18:27.117Z,1628965107.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:27.117Z,1628965107.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:27.119Z,1628965107.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:27.527Z,1628965107.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:27.940Z,1628965107.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32B,000,00BE5,18A,80,80,A8,FF
2021-08-14T18:18:27.940Z,1628965107.940 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:28.377Z,1628965108.377 [Micromodem](INFO): Nmea in: $SNTTA,0.104424,,,,181829.03*4F

2021-08-14T18:18:28.435Z,1628965108.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.199997 m, bearing: 345.655028 deg, deltaT: 4.538169 s, approachRate: -1.004810 m/s, LOS rate: -0.672705 deg/s, posRepo size: 4
2021-08-14T18:18:28.437Z,1628965108.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.199997 m,
      bearing: 345.655028 deg,
      approachRate: -1.004810 m/s,
      LOS rate: -0.672705 deg/s,
      cmd update: -2.690820 deg/s,
      cmd heading: 24.375059 deg,
      new cmd heading: 24.824559 deg.

2021-08-14T18:18:30.642Z,1628965110.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:30.825Z,1628965110.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:30.825Z,1628965110.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:30.825Z,1628965110.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:30.826Z,1628965110.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:31.221Z,1628965111.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32B,000,00BE5,18A,80,80,A8,FF
2021-08-14T18:18:31.221Z,1628965111.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:31.222Z,1628965111.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:31.223Z,1628965111.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:31.648Z,1628965111.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:32.050Z,1628965112.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,00BC2,188,80,80,BB,FF
2021-08-14T18:18:32.051Z,1628965112.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:32.473Z,1628965112.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181833.13*5C

2021-08-14T18:18:32.758Z,1628965112.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.099991 m, bearing: 345.748875 deg, deltaT: 4.187259 s, approachRate: -0.501523 m/s, LOS rate: 0.022412 deg/s, posRepo size: 4
2021-08-14T18:18:32.760Z,1628965112.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.099991 m,
      bearing: 345.748875 deg,
      approachRate: -0.501523 m/s,
      LOS rate: 0.022412 deg/s,
      cmd update: 0.089650 deg/s,
      cmd heading: 13.118644 deg,
      new cmd heading: 11.485830 deg.

2021-08-14T18:18:34.732Z,1628965114.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:35.081Z,1628965115.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:35.082Z,1628965115.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:35.082Z,1628965115.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:35.083Z,1628965115.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:35.481Z,1628965115.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,00BC2,188,80,80,BB,FF
2021-08-14T18:18:35.481Z,1628965115.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:35.481Z,1628965115.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:35.483Z,1628965115.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:35.888Z,1628965115.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:36.305Z,1628965116.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,00B9E,189,80,80,AF,FF
2021-08-14T18:18:36.305Z,1628965116.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:36.313Z,1628965116.313 [Micromodem](INFO): Nmea in: $SNTTA,0.234342,0.234392,,,181837.39*5D

2021-08-14T18:18:36.931Z,1628965116.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 347.138764 deg, deltaT: 4.242304 s, approachRate: -0.509155 m/s, LOS rate: 0.327626 deg/s, posRepo size: 4
2021-08-14T18:18:36.933Z,1628965116.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.940002 m,
      bearing: 347.138764 deg,
      approachRate: -0.509155 m/s,
      LOS rate: 0.327626 deg/s,
      cmd update: 1.310504 deg/s,
      cmd heading: 13.498892 deg,
      new cmd heading: 13.547180 deg.

2021-08-14T18:18:38.947Z,1628965118.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:39.129Z,1628965119.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:39.129Z,1628965119.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:39.129Z,1628965119.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:39.130Z,1628965119.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:39.538Z,1628965119.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,00B9E,189,80,80,AF,FF
2021-08-14T18:18:39.538Z,1628965119.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:39.539Z,1628965119.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:39.542Z,1628965119.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:39.936Z,1628965119.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:40.346Z,1628965120.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00B7B,18A,80,80,8F,FF
2021-08-14T18:18:40.346Z,1628965120.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:40.349Z,1628965120.349 [Micromodem](INFO): Nmea in: $SNTTA,0.202855,0.204055,,,181841.45*54

2021-08-14T18:18:40.783Z,1628965120.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.839996 m, bearing: 346.984238 deg, deltaT: 4.016117 s, approachRate: -0.522895 m/s, LOS rate: -0.038477 deg/s, posRepo size: 4
2021-08-14T18:18:40.785Z,1628965120.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.839996 m,
      bearing: 346.984238 deg,
      approachRate: -0.522895 m/s,
      LOS rate: -0.038477 deg/s,
      cmd update: -0.153906 deg/s,
      cmd heading: 18.751916 deg,
      new cmd heading: 19.252144 deg.

2021-08-14T18:18:43.377Z,1628965123.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:43.599Z,1628965123.599 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:43.600Z,1628965123.600 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:43.600Z,1628965123.600 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:43.602Z,1628965123.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:43.969Z,1628965123.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00B7B,18A,80,80,8F,FF
2021-08-14T18:18:43.969Z,1628965123.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:43.969Z,1628965123.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:43.971Z,1628965123.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:44.396Z,1628965124.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:44.781Z,1628965124.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,00B55,188,80,80,8B,FF
2021-08-14T18:18:44.781Z,1628965124.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:45.214Z,1628965125.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181845.88*5F

2021-08-14T18:18:45.433Z,1628965125.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.559998 m, bearing: 345.093013 deg, deltaT: 4.443950 s, approachRate: -0.513057 m/s, LOS rate: -0.425573 deg/s, posRepo size: 4
2021-08-14T18:18:45.434Z,1628965125.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 345.093013 deg,
      approachRate: -0.513057 m/s,
      LOS rate: -0.425573 deg/s,
      cmd update: -1.702292 deg/s,
      cmd heading: 18.067317 deg,
      new cmd heading: 17.977544 deg.

2021-08-14T18:18:47.693Z,1628965127.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:48.026Z,1628965128.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:48.026Z,1628965128.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:48.026Z,1628965128.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:48.027Z,1628965128.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:48.437Z,1628965128.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,00B55,188,80,80,8B,FF
2021-08-14T18:18:48.438Z,1628965128.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:48.438Z,1628965128.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:48.439Z,1628965128.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:48.851Z,1628965128.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:49.249Z,1628965129.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,350,000,00B2D,189,80,80,7C,FF
2021-08-14T18:18:49.250Z,1628965129.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:49.682Z,1628965129.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181850.35*5D

2021-08-14T18:18:49.901Z,1628965129.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.160004 m, bearing: 339.935674 deg, deltaT: 4.438848 s, approachRate: -0.540679 m/s, LOS rate: -1.161864 deg/s, posRepo size: 4
2021-08-14T18:18:49.903Z,1628965129.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.160004 m,
      bearing: 339.935674 deg,
      approachRate: -0.540679 m/s,
      LOS rate: -1.161864 deg/s,
      cmd update: -4.647458 deg/s,
      cmd heading: 10.496892 deg,
      new cmd heading: 9.468507 deg.

2021-08-14T18:18:51.946Z,1628965131.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:52.149Z,1628965132.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:52.149Z,1628965132.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:52.149Z,1628965132.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:52.150Z,1628965132.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:52.527Z,1628965132.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
350,000,00B2D,189,80,80,7C,FF
2021-08-14T18:18:52.527Z,1628965132.527 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:52.527Z,1628965132.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:52.530Z,1628965132.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:52.924Z,1628965132.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:53.333Z,1628965133.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,00B0B,189,80,80,9C,FF
2021-08-14T18:18:53.334Z,1628965133.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:53.757Z,1628965133.757 [Micromodem](INFO): Nmea in: $SNTTA,0.095309,,,,181854.44*47

2021-08-14T18:18:53.798Z,1628965133.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.120010 m, bearing: 340.287210 deg, deltaT: 4.079719 s, approachRate: -0.500033 m/s, LOS rate: 0.086167 deg/s, posRepo size: 4
2021-08-14T18:18:53.809Z,1628965133.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.120010 m,
      bearing: 340.287210 deg,
      approachRate: -0.500033 m/s,
      LOS rate: 0.086167 deg/s,
      cmd update: 0.344667 deg/s,
      cmd heading: 351.630766 deg,
      new cmd heading: 349.573007 deg.

2021-08-14T18:18:56.409Z,1628965136.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:18:56.601Z,1628965136.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:18:56.601Z,1628965136.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:18:56.602Z,1628965136.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:18:56.603Z,1628965136.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:18:56.973Z,1628965136.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,00B0B,189,80,80,9C,FF
2021-08-14T18:18:56.974Z,1628965136.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:18:56.974Z,1628965136.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:18:56.975Z,1628965136.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:18:57.392Z,1628965137.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:18:57.773Z,1628965137.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00AE1,186,80,80,A1,FF
2021-08-14T18:18:57.773Z,1628965137.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:18:58.214Z,1628965138.214 [Micromodem](INFO): Nmea in: $SNTTA,0.103876,,,,181858.88*46

2021-08-14T18:18:58.458Z,1628965138.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 347.933006 deg, deltaT: 4.477282 s, approachRate: -0.562842 m/s, LOS rate: 1.707687 deg/s, posRepo size: 4
2021-08-14T18:18:58.460Z,1628965138.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.600006 m,
      bearing: 347.933006 deg,
      approachRate: -0.562842 m/s,
      LOS rate: 1.707687 deg/s,
      cmd update: 6.830748 deg/s,
      cmd heading: 353.175273 deg,
      new cmd heading: 353.389395 deg.

2021-08-14T18:19:00.737Z,1628965140.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:01.105Z,1628965141.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:01.105Z,1628965141.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:01.106Z,1628965141.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:01.107Z,1628965141.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:01.512Z,1628965141.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00AE1,186,80,80,A1,FF
2021-08-14T18:19:01.513Z,1628965141.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:01.513Z,1628965141.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:01.515Z,1628965141.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:01.921Z,1628965141.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:02.317Z,1628965142.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00AB5,186,80,80,AF,FF
2021-08-14T18:19:02.317Z,1628965142.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:02.782Z,1628965142.782 [Micromodem](INFO): Nmea in: $SNTTA,0.086854,,,,181903.42*43

2021-08-14T18:19:02.808Z,1628965142.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.960007 m, bearing: 344.051737 deg, deltaT: 4.757846 s, approachRate: -0.554873 m/s, LOS rate: -0.815762 deg/s, posRepo size: 4
2021-08-14T18:19:02.810Z,1628965142.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.960007 m,
      bearing: 344.051737 deg,
      approachRate: -0.554873 m/s,
      LOS rate: -0.815762 deg/s,
      cmd update: -3.263047 deg/s,
      cmd heading: 25.784927 deg,
      new cmd heading: 27.131124 deg.

2021-08-14T18:19:05.231Z,1628965145.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:05.664Z,1628965145.664 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:05.664Z,1628965145.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:05.664Z,1628965145.664 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:05.665Z,1628965145.665 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:06.030Z,1628965146.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00AB5,186,80,80,AF,FF
2021-08-14T18:19:06.030Z,1628965146.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:06.030Z,1628965146.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:06.032Z,1628965146.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:06.424Z,1628965146.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:06.829Z,1628965146.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00A88,189,80,80,C0,FF
2021-08-14T18:19:06.830Z,1628965146.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:07.265Z,1628965147.265 [Micromodem](INFO): Nmea in: $SNTTA,0.084990,,,,181907.94*47

2021-08-14T18:19:07.308Z,1628965147.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.260002 m, bearing: 339.026985 deg, deltaT: 4.275361 s, approachRate: -0.631527 m/s, LOS rate: -1.175281 deg/s, posRepo size: 4
2021-08-14T18:19:07.310Z,1628965147.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.260002 m,
      bearing: 339.026985 deg,
      approachRate: -0.631527 m/s,
      LOS rate: -1.175281 deg/s,
      cmd update: -4.701125 deg/s,
      cmd heading: 11.848203 deg,
      new cmd heading: 10.537163 deg.

2021-08-14T18:19:09.707Z,1628965149.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:10.071Z,1628965150.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:10.073Z,1628965150.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:10.073Z,1628965150.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:10.075Z,1628965150.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:10.473Z,1628965150.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00A88,189,80,80,C0,FF
2021-08-14T18:19:10.473Z,1628965150.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:10.474Z,1628965150.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:10.475Z,1628965150.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:10.873Z,1628965150.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:11.385Z,1628965151.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,00A66,189,80,80,BA,FF
2021-08-14T18:19:11.386Z,1628965151.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:11.837Z,1628965151.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181912.38*57

2021-08-14T18:19:11.873Z,1628965151.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.220009 m, bearing: 343.343883 deg, deltaT: 4.657791 s, approachRate: -0.437974 m/s, LOS rate: 0.926812 deg/s, posRepo size: 4
2021-08-14T18:19:11.875Z,1628965151.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.220009 m,
      bearing: 343.343883 deg,
      approachRate: -0.437974 m/s,
      LOS rate: 0.926812 deg/s,
      cmd update: 3.707250 deg/s,
      cmd heading: 350.002141 deg,
      new cmd heading: 348.384277 deg.

2021-08-14T18:19:14.243Z,1628965154.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:14.653Z,1628965154.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:14.653Z,1628965154.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:14.653Z,1628965154.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:14.654Z,1628965154.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:15.028Z,1628965155.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,00A66,189,80,80,BA,FF
2021-08-14T18:19:15.028Z,1628965155.028 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:15.029Z,1628965155.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:15.030Z,1628965155.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:15.547Z,1628965155.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:15.937Z,1628965155.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,00A37,186,80,80,B2,FF
2021-08-14T18:19:15.938Z,1628965155.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:16.361Z,1628965156.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181916.94*55

2021-08-14T18:19:16.430Z,1628965156.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.400002 m, bearing: 346.476864 deg, deltaT: 4.514137 s, approachRate: -0.624706 m/s, LOS rate: 0.694038 deg/s, posRepo size: 4
2021-08-14T18:19:16.432Z,1628965156.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.400002 m,
      bearing: 346.476864 deg,
      approachRate: -0.624706 m/s,
      LOS rate: 0.694038 deg/s,
      cmd update: 2.776150 deg/s,
      cmd heading: 6.707842 deg,
      new cmd heading: 8.173139 deg.

2021-08-14T18:19:18.802Z,1628965158.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:19.169Z,1628965159.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:19.169Z,1628965159.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:19.169Z,1628965159.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:19.170Z,1628965159.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:19.589Z,1628965159.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,00A37,186,80,80,B2,FF
2021-08-14T18:19:19.590Z,1628965159.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:19.591Z,1628965159.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:19.597Z,1628965159.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:19.976Z,1628965159.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:20.389Z,1628965160.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00A08,186,80,80,71,FF
2021-08-14T18:19:20.389Z,1628965160.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:20.809Z,1628965160.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181921.50*59

2021-08-14T18:19:20.845Z,1628965160.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 344.630063 deg, deltaT: 4.405808 s, approachRate: -0.640064 m/s, LOS rate: -0.419174 deg/s, posRepo size: 4
2021-08-14T18:19:20.847Z,1628965160.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.580002 m,
      bearing: 344.630063 deg,
      approachRate: -0.640064 m/s,
      LOS rate: -0.419174 deg/s,
      cmd update: -1.676697 deg/s,
      cmd heading: 18.969322 deg,
      new cmd heading: 20.062370 deg.

2021-08-14T18:19:23.337Z,1628965163.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:23.693Z,1628965163.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:23.693Z,1628965163.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:23.693Z,1628965163.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:23.694Z,1628965163.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:24.145Z,1628965164.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00A08,186,80,80,71,FF
2021-08-14T18:19:24.146Z,1628965164.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:24.146Z,1628965164.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:24.149Z,1628965164.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:24.500Z,1628965164.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:24.525Z,1628965164.525 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T18:19:24.906Z,1628965164.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,009D8,189,80,80,71,FF
2021-08-14T18:19:24.906Z,1628965164.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:25.133Z,1628965165.133 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00
2021-08-14T18:19:25.133Z,1628965165.133 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:19:25.413Z,1628965165.413 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:19:25.437Z,1628965165.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 337.135952 deg, deltaT: 4.749396 s, approachRate: -0.606392 m/s, LOS rate: -1.577908 deg/s, posRepo size: 4
2021-08-14T18:19:25.439Z,1628965165.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 337.135952 deg,
      approachRate: -0.606392 m/s,
      LOS rate: -1.577908 deg/s,
      cmd update: -6.311633 deg/s,
      cmd heading: 10.985986 deg,
      new cmd heading: 10.612619 deg.

2021-08-14T18:19:25.806Z,1628965165.806 [Micromodem](INFO): Nmea in: $CADRQ,181926,1,10,0,64,1*73

2021-08-14T18:19:25.806Z,1628965165.806 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00*35

2021-08-14T18:19:26.205Z,1628965166.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181926.05*5E

2021-08-14T18:19:26.205Z,1628965166.205 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,181926.05*5E

2021-08-14T18:19:27.417Z,1628965167.417 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T18:19:27.828Z,1628965167.828 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T18:19:27.891Z,1628965167.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:28.205Z,1628965168.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:28.205Z,1628965168.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:28.205Z,1628965168.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:28.206Z,1628965168.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:28.212Z,1628965168.212 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T18:19:28.670Z,1628965168.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,009D8,189,80,80,71,FF
2021-08-14T18:19:28.670Z,1628965168.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:28.670Z,1628965168.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:28.673Z,1628965168.673 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,181927.737377,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-14T18:19:28.674Z,1628965168.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:29.060Z,1628965169.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:29.874Z,1628965169.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181930.58*51

2021-08-14T18:19:30.505Z,1628965170.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:32.302Z,1628965172.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,71,FF
2021-08-14T18:19:32.303Z,1628965172.303 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,71,FF
2021-08-14T18:19:32.303Z,1628965172.303 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:19:33.167Z,1628965173.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:33.518Z,1628965173.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:33.518Z,1628965173.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:33.519Z,1628965173.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:33.519Z,1628965173.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:33.919Z,1628965173.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,71,FF
2021-08-14T18:19:33.919Z,1628965173.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:33.919Z,1628965173.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:33.922Z,1628965173.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:34.312Z,1628965174.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:34.750Z,1628965174.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,0097A,184,80,80,AE,FF
2021-08-14T18:19:34.751Z,1628965174.751 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:35.173Z,1628965175.173 [Micromodem](INFO): Nmea in: $SNTTA,0.074210,,,,181935.83*4C

2021-08-14T18:19:35.208Z,1628965175.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.059998 m, bearing: 345.768546 deg, deltaT: 9.606861 s, approachRate: -0.587081 m/s, LOS rate: 0.898586 deg/s, posRepo size: 4
2021-08-14T18:19:35.210Z,1628965175.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.059998 m,
      bearing: 345.768546 deg,
      approachRate: -0.587081 m/s,
      LOS rate: 0.898586 deg/s,
      cmd update: 3.594345 deg/s,
      cmd heading: 310.374879 deg,
      new cmd heading: 307.904253 deg.

2021-08-14T18:19:37.710Z,1628965177.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:38.138Z,1628965178.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:38.138Z,1628965178.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:38.138Z,1628965178.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:38.139Z,1628965178.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:38.449Z,1628965178.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
028,000,0097A,184,80,80,AE,FF
2021-08-14T18:19:38.449Z,1628965178.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:38.449Z,1628965178.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:38.451Z,1628965178.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:38.858Z,1628965178.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:39.250Z,1628965179.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,0094C,186,80,80,A5,FF
2021-08-14T18:19:39.250Z,1628965179.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:39.716Z,1628965179.716 [Micromodem](INFO): Nmea in: $SNTTA,0.076025,,,,181940.36*46

2021-08-14T18:19:39.742Z,1628965179.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.300003 m, bearing: 344.194351 deg, deltaT: 4.451242 s, approachRate: -0.620050 m/s, LOS rate: -0.353653 deg/s, posRepo size: 4
2021-08-14T18:19:39.744Z,1628965179.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.300003 m,
      bearing: 344.194351 deg,
      approachRate: -0.620050 m/s,
      LOS rate: -0.353653 deg/s,
      cmd update: -1.414612 deg/s,
      cmd heading: 326.389272 deg,
      new cmd heading: 328.079890 deg.

2021-08-14T18:19:42.173Z,1628965182.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:42.470Z,1628965182.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:42.470Z,1628965182.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:42.470Z,1628965182.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:42.471Z,1628965182.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:42.889Z,1628965182.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,0094C,186,80,80,A5,FF
2021-08-14T18:19:42.889Z,1628965182.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:42.889Z,1628965182.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:42.893Z,1628965182.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:43.385Z,1628965183.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:43.785Z,1628965183.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,0091F,186,80,80,BE,FF
2021-08-14T18:19:43.786Z,1628965183.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:44.205Z,1628965184.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181944.80*57

2021-08-14T18:19:44.282Z,1628965184.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.600006 m, bearing: 345.169593 deg, deltaT: 4.599513 s, approachRate: -0.587018 m/s, LOS rate: 0.212032 deg/s, posRepo size: 4
2021-08-14T18:19:44.300Z,1628965184.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.600006 m,
      bearing: 345.169593 deg,
      approachRate: -0.587018 m/s,
      LOS rate: 0.212032 deg/s,
      cmd update: 0.848126 deg/s,
      cmd heading: 319.888598 deg,
      new cmd heading: 319.301930 deg.

2021-08-14T18:19:46.722Z,1628965186.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:47.024Z,1628965187.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:47.024Z,1628965187.024 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:47.024Z,1628965187.024 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:47.025Z,1628965187.025 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:47.501Z,1628965187.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,0091F,186,80,80,BE,FF
2021-08-14T18:19:47.501Z,1628965187.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:47.501Z,1628965187.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:47.503Z,1628965187.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:47.905Z,1628965187.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:48.302Z,1628965188.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,008EE,187,80,80,A5,FF
2021-08-14T18:19:48.302Z,1628965188.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:48.306Z,1628965188.306 [Micromodem](INFO): Nmea in: $SNTTA,0.072907,0.223456,,,181949.41*58

2021-08-14T18:19:48.752Z,1628965188.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.660004 m, bearing: 343.887184 deg, deltaT: 4.527263 s, approachRate: -0.649400 m/s, LOS rate: -0.283264 deg/s, posRepo size: 4
2021-08-14T18:19:48.754Z,1628965188.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.660004 m,
      bearing: 343.887184 deg,
      approachRate: -0.649400 m/s,
      LOS rate: -0.283264 deg/s,
      cmd update: -1.133055 deg/s,
      cmd heading: 323.725026 deg,
      new cmd heading: 324.031667 deg.

2021-08-14T18:19:49.580Z,1628965189.580 [CTD_Seabird](ERROR): Failed to parse device response: 6.85,23.801.14
2021-08-14T18:19:51.143Z,1628965191.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:51.538Z,1628965191.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:51.538Z,1628965191.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:51.538Z,1628965191.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:51.539Z,1628965191.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:51.937Z,1628965191.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,008EE,187,80,80,A5,FF
2021-08-14T18:19:51.938Z,1628965191.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:51.938Z,1628965191.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:51.939Z,1628965191.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:52.340Z,1628965192.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:52.737Z,1628965192.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,008BF,186,80,80,D0,FF
2021-08-14T18:19:52.738Z,1628965192.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:53.186Z,1628965193.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181953.85*54

2021-08-14T18:19:53.219Z,1628965193.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.840004 m, bearing: 342.224552 deg, deltaT: 4.394845 s, approachRate: -0.641661 m/s, LOS rate: -0.378314 deg/s, posRepo size: 4
2021-08-14T18:19:53.222Z,1628965193.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.840004 m,
      bearing: 342.224552 deg,
      approachRate: -0.641661 m/s,
      LOS rate: -0.378314 deg/s,
      cmd update: -1.513256 deg/s,
      cmd heading: 318.745660 deg,
      new cmd heading: 318.253491 deg.

2021-08-14T18:19:55.878Z,1628965195.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:19:56.152Z,1628965196.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:19:56.152Z,1628965196.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:19:56.153Z,1628965196.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:19:56.154Z,1628965196.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:19:56.515Z,1628965196.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,008BF,186,80,80,D0,FF
2021-08-14T18:19:56.515Z,1628965196.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:19:56.515Z,1628965196.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:19:56.518Z,1628965196.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:19:56.922Z,1628965196.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:19:57.327Z,1628965197.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,0088F,186,80,80,CC,FF
2021-08-14T18:19:57.328Z,1628965197.328 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:19:57.757Z,1628965197.757 [Micromodem](INFO): Nmea in: $SNTTA,0.084809,,,,181958.42*47

2021-08-14T18:19:57.786Z,1628965197.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.960007 m, bearing: 343.600589 deg, deltaT: 4.552056 s, approachRate: -0.632681 m/s, LOS rate: 0.302289 deg/s, posRepo size: 4
2021-08-14T18:19:57.804Z,1628965197.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.960007 m,
      bearing: 343.600589 deg,
      approachRate: -0.632681 m/s,
      LOS rate: 0.302289 deg/s,
      cmd update: 1.209157 deg/s,
      cmd heading: 311.845123 deg,
      new cmd heading: 311.178241 deg.

2021-08-14T18:20:00.006Z,1628965200.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:00.157Z,1628965200.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:00.157Z,1628965200.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:00.157Z,1628965200.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:00.158Z,1628965200.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:00.566Z,1628965200.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,0088F,186,80,80,CC,FF
2021-08-14T18:20:00.566Z,1628965200.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:00.566Z,1628965200.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:00.572Z,1628965200.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:00.962Z,1628965200.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:01.363Z,1628965201.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,00863,18A,80,80,78,FF
2021-08-14T18:20:01.364Z,1628965201.364 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:01.813Z,1628965201.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182002.48*5B

2021-08-14T18:20:02.029Z,1628965202.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.320000 m, bearing: 349.861059 deg, deltaT: 4.092520 s, approachRate: -0.645081 m/s, LOS rate: 1.529735 deg/s, posRepo size: 4
2021-08-14T18:20:02.031Z,1628965202.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.320000 m,
      bearing: 349.861059 deg,
      approachRate: -0.645081 m/s,
      LOS rate: 1.529735 deg/s,
      cmd update: 6.118939 deg/s,
      cmd heading: 316.783125 deg,
      new cmd heading: 317.507923 deg.

2021-08-14T18:20:04.298Z,1628965204.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:04.677Z,1628965204.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:04.677Z,1628965204.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:04.677Z,1628965204.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:04.678Z,1628965204.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:05.057Z,1628965205.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,00863,18A,80,80,78,FF
2021-08-14T18:20:05.057Z,1628965205.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:05.058Z,1628965205.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:05.059Z,1628965205.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:05.474Z,1628965205.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:05.865Z,1628965205.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00839,186,80,80,B6,FF
2021-08-14T18:20:05.866Z,1628965205.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:06.277Z,1628965206.277 [Micromodem](INFO): Nmea in: $SNTTA,0.061367,0.403596,,,182006.97*55

2021-08-14T18:20:06.556Z,1628965206.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.800003 m, bearing: 349.796500 deg, deltaT: 4.507607 s, approachRate: -0.559054 m/s, LOS rate: -0.014322 deg/s, posRepo size: 4
2021-08-14T18:20:06.558Z,1628965206.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.800003 m,
      bearing: 349.796500 deg,
      approachRate: -0.559054 m/s,
      LOS rate: -0.014322 deg/s,
      cmd update: -0.057289 deg/s,
      cmd heading: 344.364633 deg,
      new cmd heading: 348.088404 deg.

2021-08-14T18:20:08.668Z,1628965208.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:08.859Z,1628965208.859 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:08.859Z,1628965208.859 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:08.859Z,1628965208.859 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:08.860Z,1628965208.860 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:09.257Z,1628965209.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00839,186,80,80,B6,FF
2021-08-14T18:20:09.257Z,1628965209.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:09.257Z,1628965209.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:09.259Z,1628965209.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:09.668Z,1628965209.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:10.085Z,1628965210.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,0080E,184,80,80,A4,FF
2021-08-14T18:20:10.086Z,1628965210.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:10.509Z,1628965210.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182011.17*53

2021-08-14T18:20:10.594Z,1628965210.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 347.501447 deg, deltaT: 4.225591 s, approachRate: -0.610566 m/s, LOS rate: -0.543132 deg/s, posRepo size: 4
2021-08-14T18:20:10.605Z,1628965210.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.220001 m,
      bearing: 347.501447 deg,
      approachRate: -0.610566 m/s,
      LOS rate: -0.543132 deg/s,
      cmd update: -2.172527 deg/s,
      cmd heading: 344.122281 deg,
      new cmd heading: 344.098281 deg.

2021-08-14T18:20:12.805Z,1628965212.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:12.957Z,1628965212.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:12.957Z,1628965212.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:12.957Z,1628965212.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:12.958Z,1628965212.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:13.337Z,1628965213.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,0080E,184,80,80,A4,FF
2021-08-14T18:20:13.337Z,1628965213.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:13.337Z,1628965213.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:13.339Z,1628965213.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:13.748Z,1628965213.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:14.157Z,1628965214.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,007E5,186,80,80,AB,FF
2021-08-14T18:20:14.158Z,1628965214.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:14.607Z,1628965214.607 [Micromodem](INFO): Nmea in: $SNTTA,0.058137,,,,182015.25*40

2021-08-14T18:20:14.861Z,1628965214.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.760002 m, bearing: 347.650072 deg, deltaT: 4.085945 s, approachRate: -0.602064 m/s, LOS rate: 0.036375 deg/s, posRepo size: 4
2021-08-14T18:20:14.863Z,1628965214.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.760002 m,
      bearing: 347.650072 deg,
      approachRate: -0.602064 m/s,
      LOS rate: 0.036375 deg/s,
      cmd update: 0.145499 deg/s,
      cmd heading: 335.237027 deg,
      new cmd heading: 333.923055 deg.

2021-08-14T18:20:16.775Z,1628965216.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:17.148Z,1628965217.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:17.149Z,1628965217.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:17.149Z,1628965217.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:17.150Z,1628965217.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:17.534Z,1628965217.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,007E5,186,80,80,AB,FF
2021-08-14T18:20:17.534Z,1628965217.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:17.535Z,1628965217.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:17.538Z,1628965217.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:17.953Z,1628965217.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:18.345Z,1628965218.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC7,000,007B7,184,80,80,AF,FF
2021-08-14T18:20:18.346Z,1628965218.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:18.853Z,1628965218.853 [Micromodem](INFO): Nmea in: $SNTTA,,0.165808,,,182019.45*40

2021-08-14T18:20:19.071Z,1628965219.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 350.215655 deg, deltaT: 4.172750 s, approachRate: -0.661433 m/s, LOS rate: 0.614842 deg/s, posRepo size: 4
2021-08-14T18:20:19.074Z,1628965219.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.000008 m,
      bearing: 350.215655 deg,
      approachRate: -0.661433 m/s,
      LOS rate: 0.614842 deg/s,
      cmd update: 2.459369 deg/s,
      cmd heading: 335.843487 deg,
      new cmd heading: 335.937584 deg.

2021-08-14T18:20:21.106Z,1628965221.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:21.297Z,1628965221.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:21.297Z,1628965221.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:21.297Z,1628965221.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:21.298Z,1628965221.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:21.701Z,1628965221.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC7,000,007B7,184,80,80,AF,FF
2021-08-14T18:20:21.701Z,1628965221.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:21.701Z,1628965221.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:21.703Z,1628965221.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:22.145Z,1628965222.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:22.505Z,1628965222.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00789,187,80,80,BB,FF
2021-08-14T18:20:22.506Z,1628965222.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:22.949Z,1628965222.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182023.61*53

2021-08-14T18:20:22.986Z,1628965222.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.240005 m, bearing: 347.785446 deg, deltaT: 4.099606 s, approachRate: -0.673236 m/s, LOS rate: -0.592791 deg/s, posRepo size: 4
2021-08-14T18:20:22.989Z,1628965222.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.240005 m,
      bearing: 347.785446 deg,
      approachRate: -0.673236 m/s,
      LOS rate: -0.592791 deg/s,
      cmd update: -2.371163 deg/s,
      cmd heading: 345.930749 deg,
      new cmd heading: 347.061926 deg.

2021-08-14T18:20:25.554Z,1628965225.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:25.749Z,1628965225.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:25.749Z,1628965225.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:25.749Z,1628965225.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:25.750Z,1628965225.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:26.165Z,1628965226.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00789,187,80,80,BB,FF
2021-08-14T18:20:26.165Z,1628965226.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:26.165Z,1628965226.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:26.167Z,1628965226.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:26.557Z,1628965226.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:26.957Z,1628965226.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00757,184,80,80,98,FF
2021-08-14T18:20:26.958Z,1628965226.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:27.385Z,1628965227.385 [Micromodem](INFO): Nmea in: $SNTTA,0.284905,,,,182028.07*44

2021-08-14T18:20:27.652Z,1628965227.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 347.107973 deg, deltaT: 4.493469 s, approachRate: -0.667637 m/s, LOS rate: -0.150768 deg/s, posRepo size: 4
2021-08-14T18:20:27.656Z,1628965227.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.239998 m,
      bearing: 347.107973 deg,
      approachRate: -0.667637 m/s,
      LOS rate: -0.150768 deg/s,
      cmd update: -0.603073 deg/s,
      cmd heading: 335.279069 deg,
      new cmd heading: 333.778185 deg.

2021-08-14T18:20:29.882Z,1628965229.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:30.245Z,1628965230.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:30.246Z,1628965230.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:30.246Z,1628965230.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:30.247Z,1628965230.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:30.252Z,1628965230.252 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T18:20:30.653Z,1628965230.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00757,184,80,80,98,FF
2021-08-14T18:20:30.654Z,1628965230.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:30.654Z,1628965230.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:30.655Z,1628965230.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:31.061Z,1628965231.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:31.243Z,1628965231.243 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00
2021-08-14T18:20:31.243Z,1628965231.243 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:20:31.457Z,1628965231.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00726,185,80,80,7A,FF
2021-08-14T18:20:31.458Z,1628965231.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:31.460Z,1628965231.460 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:20:32.046Z,1628965232.046 [Micromodem](INFO): Nmea in: $CADRQ,182033,1,10,0,64,1*7D

2021-08-14T18:20:32.048Z,1628965232.048 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00*35

2021-08-14T18:20:32.153Z,1628965232.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 348.289132 deg, deltaT: 4.724515 s, approachRate: -0.622285 m/s, LOS rate: 0.250006 deg/s, posRepo size: 4
2021-08-14T18:20:32.155Z,1628965232.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 348.289132 deg,
      approachRate: -0.622285 m/s,
      LOS rate: 0.250006 deg/s,
      cmd update: 1.000025 deg/s,
      cmd heading: 332.428744 deg,
      new cmd heading: 332.185181 deg.

2021-08-14T18:20:32.570Z,1628965232.570 [Micromodem](INFO): Nmea in: $SNTTA,,0.051301,,,182032.56*4F

2021-08-14T18:20:32.571Z,1628965232.571 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,0.051301,,,182032.56*4F

2021-08-14T18:20:33.686Z,1628965233.686 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T18:20:34.205Z,1628965234.205 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T18:20:34.273Z,1628965234.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:34.601Z,1628965234.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:34.601Z,1628965234.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:34.601Z,1628965234.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:34.603Z,1628965234.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:34.620Z,1628965234.620 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T18:20:34.995Z,1628965234.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00726,185,80,80,7A,FF
2021-08-14T18:20:34.995Z,1628965234.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:34.995Z,1628965234.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:34.999Z,1628965234.999 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,182033.977149,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A

2021-08-14T18:20:35.000Z,1628965235.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:35.412Z,1628965235.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:36.242Z,1628965236.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182036.91*58

2021-08-14T18:20:37.042Z,1628965237.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:38.290Z,1628965238.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,7A,FF
2021-08-14T18:20:38.290Z,1628965238.290 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,7A,FF
2021-08-14T18:20:38.290Z,1628965238.290 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:20:40.201Z,1628965240.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:40.369Z,1628965240.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:40.369Z,1628965240.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:40.369Z,1628965240.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:40.370Z,1628965240.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:40.773Z,1628965240.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,7A,FF
2021-08-14T18:20:40.773Z,1628965240.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:40.773Z,1628965240.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:40.775Z,1628965240.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:41.185Z,1628965241.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:41.609Z,1628965241.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,006BD,186,80,80,C2,FF
2021-08-14T18:20:41.610Z,1628965241.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:42.028Z,1628965242.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182042.68*5D

2021-08-14T18:20:42.108Z,1628965242.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 350.331385 deg, deltaT: 9.890598 s, approachRate: -0.636969 m/s, LOS rate: 0.206484 deg/s, posRepo size: 4
2021-08-14T18:20:42.110Z,1628965242.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 350.331385 deg,
      approachRate: -0.636969 m/s,
      LOS rate: 0.206484 deg/s,
      cmd update: 0.825937 deg/s,
      cmd heading: 342.321905 deg,
      new cmd heading: 342.787134 deg.

2021-08-14T18:20:44.298Z,1628965244.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:44.453Z,1628965244.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:44.453Z,1628965244.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:44.453Z,1628965244.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:44.454Z,1628965244.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:44.869Z,1628965244.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,006BD,186,80,80,C2,FF
2021-08-14T18:20:44.869Z,1628965244.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:44.869Z,1628965244.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:44.871Z,1628965244.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:45.256Z,1628965245.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:45.734Z,1628965245.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00692,184,80,80,4E,FF
2021-08-14T18:20:45.735Z,1628965245.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:46.277Z,1628965246.277 [Micromodem](INFO): Nmea in: $SNTTA,0.084186,,,,182046.78*45

2021-08-14T18:20:46.515Z,1628965246.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 350.705188 deg, deltaT: 4.255073 s, approachRate: -0.606334 m/s, LOS rate: 0.087849 deg/s, posRepo size: 4
2021-08-14T18:20:46.518Z,1628965246.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.420006 m,
      bearing: 350.705188 deg,
      approachRate: -0.606334 m/s,
      LOS rate: 0.087849 deg/s,
      cmd update: 0.351395 deg/s,
      cmd heading: 345.836227 deg,
      new cmd heading: 346.349482 deg.

2021-08-14T18:20:48.767Z,1628965248.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:49.137Z,1628965249.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:49.137Z,1628965249.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:49.137Z,1628965249.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:49.138Z,1628965249.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:49.542Z,1628965249.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00692,184,80,80,4E,FF
2021-08-14T18:20:49.542Z,1628965249.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:49.543Z,1628965249.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:49.549Z,1628965249.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:49.952Z,1628965249.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:50.891Z,1628965250.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182051.46*53

2021-08-14T18:20:51.333Z,1628965251.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:52.921Z,1628965252.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,4E,FF
2021-08-14T18:20:52.921Z,1628965252.921 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,4E,FF
2021-08-14T18:20:52.921Z,1628965252.921 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:20:54.212Z,1628965254.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:54.534Z,1628965254.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:54.534Z,1628965254.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:54.534Z,1628965254.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:54.535Z,1628965254.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:54.929Z,1628965254.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,4E,FF
2021-08-14T18:20:54.929Z,1628965254.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:54.929Z,1628965254.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:54.931Z,1628965254.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:20:55.348Z,1628965255.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:20:55.733Z,1628965255.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,0062F,185,80,80,97,FF
2021-08-14T18:20:55.734Z,1628965255.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:20:56.173Z,1628965256.173 [Micromodem](INFO): Nmea in: $SNTTA,0.468928,0.468822,,,182056.84*51

2021-08-14T18:20:56.220Z,1628965256.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.480007 m, bearing: 351.483939 deg, deltaT: 9.873084 s, approachRate: -0.601636 m/s, LOS rate: 0.078876 deg/s, posRepo size: 4
2021-08-14T18:20:56.222Z,1628965256.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.480007 m,
      bearing: 351.483939 deg,
      approachRate: -0.601636 m/s,
      LOS rate: 0.078876 deg/s,
      cmd update: 0.315505 deg/s,
      cmd heading: 349.305650 deg,
      new cmd heading: 349.465015 deg.

2021-08-14T18:20:58.646Z,1628965258.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:20:58.973Z,1628965258.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:20:58.973Z,1628965258.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:20:58.973Z,1628965258.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:20:58.974Z,1628965258.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:20:59.509Z,1628965259.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,0062F,185,80,80,97,FF
2021-08-14T18:20:59.509Z,1628965259.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:20:59.510Z,1628965259.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:20:59.511Z,1628965259.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:00.028Z,1628965260.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:00.356Z,1628965260.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,005FF,184,80,80,76,FF
2021-08-14T18:21:00.356Z,1628965260.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:00.359Z,1628965260.359 [Micromodem](INFO): Nmea in: $SNTTA,0.058623,0.176722,,,182101.42*5E

2021-08-14T18:21:00.799Z,1628965260.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.599998 m, bearing: 353.987722 deg, deltaT: 4.679217 s, approachRate: -0.615489 m/s, LOS rate: 0.535086 deg/s, posRepo size: 4
2021-08-14T18:21:00.817Z,1628965260.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.599998 m,
      bearing: 353.987722 deg,
      approachRate: -0.615489 m/s,
      LOS rate: 0.535086 deg/s,
      cmd update: 2.140344 deg/s,
      cmd heading: 350.781325 deg,
      new cmd heading: 350.893513 deg.

2021-08-14T18:21:03.360Z,1628965263.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:03.561Z,1628965263.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:03.561Z,1628965263.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:03.561Z,1628965263.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:03.562Z,1628965263.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:03.965Z,1628965263.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,005FF,184,80,80,76,FF
2021-08-14T18:21:03.965Z,1628965263.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:03.965Z,1628965263.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:03.967Z,1628965263.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:04.370Z,1628965264.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:04.774Z,1628965264.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,005D1,187,80,80,99,FF
2021-08-14T18:21:04.774Z,1628965264.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:05.203Z,1628965265.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182105.87*5E

2021-08-14T18:21:05.412Z,1628965265.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 352.285175 deg, deltaT: 4.400895 s, approachRate: -0.627144 m/s, LOS rate: -0.386864 deg/s, posRepo size: 4
2021-08-14T18:21:05.414Z,1628965265.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.840004 m,
      bearing: 352.285175 deg,
      approachRate: -0.627144 m/s,
      LOS rate: -0.386864 deg/s,
      cmd update: -1.547456 deg/s,
      cmd heading: 0.205135 deg,
      new cmd heading: 1.416007 deg.

2021-08-14T18:21:07.662Z,1628965267.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:07.999Z,1628965267.999 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:07.999Z,1628965267.999 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:07.999Z,1628965267.999 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:08.000Z,1628965268.000 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:08.405Z,1628965268.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,005D1,187,80,80,99,FF
2021-08-14T18:21:08.405Z,1628965268.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:08.405Z,1628965268.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:08.407Z,1628965268.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:08.823Z,1628965268.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:09.217Z,1628965269.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,005A4,186,80,80,82,FF
2021-08-14T18:21:09.218Z,1628965269.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:09.665Z,1628965269.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182110.31*57

2021-08-14T18:21:09.884Z,1628965269.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 352.175099 deg, deltaT: 4.441151 s, approachRate: -0.607951 m/s, LOS rate: -0.024785 deg/s, posRepo size: 4
2021-08-14T18:21:09.886Z,1628965269.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 352.175099 deg,
      approachRate: -0.607951 m/s,
      LOS rate: -0.024785 deg/s,
      cmd update: -0.099141 deg/s,
      cmd heading: 353.362987 deg,
      new cmd heading: 352.409557 deg.

2021-08-14T18:21:11.926Z,1628965271.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:12.113Z,1628965272.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:12.114Z,1628965272.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:12.114Z,1628965272.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:12.115Z,1628965272.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:12.477Z,1628965272.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,005A4,186,80,80,82,FF
2021-08-14T18:21:12.477Z,1628965272.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:12.478Z,1628965272.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:12.479Z,1628965272.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:12.892Z,1628965272.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:13.347Z,1628965273.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,0057F,186,80,80,77,FF
2021-08-14T18:21:13.347Z,1628965273.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:13.825Z,1628965273.825 [Micromodem](INFO): Nmea in: $SNTTA,0.068965,,,,182114.39*41

2021-08-14T18:21:13.870Z,1628965273.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 355.417499 deg, deltaT: 4.078442 s, approachRate: -0.544328 m/s, LOS rate: 0.795009 deg/s, posRepo size: 4
2021-08-14T18:21:13.877Z,1628965273.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.919994 m,
      bearing: 355.417499 deg,
      approachRate: -0.544328 m/s,
      LOS rate: 0.795009 deg/s,
      cmd update: 3.180038 deg/s,
      cmd heading: 352.956713 deg,
      new cmd heading: 352.906671 deg.

2021-08-14T18:21:16.378Z,1628965276.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:16.536Z,1628965276.536 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:16.536Z,1628965276.536 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:16.537Z,1628965276.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:16.538Z,1628965276.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:16.926Z,1628965276.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,0057F,186,80,80,77,FF
2021-08-14T18:21:16.926Z,1628965276.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:16.926Z,1628965276.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:16.929Z,1628965276.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:17.338Z,1628965277.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:17.741Z,1628965277.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00552,186,80,80,A5,FF
2021-08-14T18:21:17.742Z,1628965277.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:18.185Z,1628965278.185 [Micromodem](INFO): Nmea in: $SNTTA,0.048433,,,,182118.84*47

2021-08-14T18:21:18.410Z,1628965278.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.220001 m, bearing: 353.655639 deg, deltaT: 4.426557 s, approachRate: -0.609953 m/s, LOS rate: -0.398021 deg/s, posRepo size: 4
2021-08-14T18:21:18.412Z,1628965278.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.220001 m,
      bearing: 353.655639 deg,
      approachRate: -0.609953 m/s,
      LOS rate: -0.398021 deg/s,
      cmd update: -1.592083 deg/s,
      cmd heading: 7.020472 deg,
      new cmd heading: 8.996427 deg.

2021-08-14T18:21:20.651Z,1628965280.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:20.978Z,1628965280.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:20.978Z,1628965280.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:20.978Z,1628965280.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:20.979Z,1628965280.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:21.389Z,1628965281.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00552,186,80,80,A5,FF
2021-08-14T18:21:21.389Z,1628965281.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:21.389Z,1628965281.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:21.391Z,1628965281.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:21.785Z,1628965281.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:22.185Z,1628965282.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00524,186,80,80,5E,FF
2021-08-14T18:21:22.186Z,1628965282.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:22.658Z,1628965282.658 [Micromodem](INFO): Nmea in: $SNTTA,0.039297,,,,182123.30*4E

2021-08-14T18:21:22.861Z,1628965282.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 351.291737 deg, deltaT: 4.480703 s, approachRate: -0.615975 m/s, LOS rate: -0.527574 deg/s, posRepo size: 4
2021-08-14T18:21:22.863Z,1628965282.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.459999 m,
      bearing: 351.291737 deg,
      approachRate: -0.615975 m/s,
      LOS rate: -0.527574 deg/s,
      cmd update: -2.110295 deg/s,
      cmd heading: 359.893492 deg,
      new cmd heading: 358.944956 deg.

2021-08-14T18:21:24.879Z,1628965284.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:25.045Z,1628965285.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:25.045Z,1628965285.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:25.045Z,1628965285.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:25.046Z,1628965285.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:25.445Z,1628965285.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,00524,186,80,80,5E,FF
2021-08-14T18:21:25.445Z,1628965285.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:25.445Z,1628965285.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:25.447Z,1628965285.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:25.852Z,1628965285.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:26.255Z,1628965286.255 [Micromodem](INFO): Nmea in: $SNTTA,0.211939,0.211951,,,182127.35*59

2021-08-14T18:21:27.125Z,1628965287.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,037C4,186,80,80,5E,FF
2021-08-14T18:21:27.126Z,1628965287.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:27.636Z,1628965287.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 819.059998 m, bearing: 354.687106 deg, deltaT: 4.900477 s, approachRate: 158.678421 m/s, LOS rate: 0.692865 deg/s, posRepo size: 4
2021-08-14T18:21:27.638Z,1628965287.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 819.059998 m,
      bearing: 354.687106 deg,
      approachRate: 158.678421 m/s,
      LOS rate: 0.692865 deg/s,
      cmd update: 2.771460 deg/s,
      cmd heading: 349.542913 deg,
      new cmd heading: 348.558389 deg.

2021-08-14T18:21:29.910Z,1628965289.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:30.297Z,1628965290.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:30.298Z,1628965290.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:30.298Z,1628965290.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:30.299Z,1628965290.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:30.697Z,1628965290.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,037C4,186,80,80,5E,FF
2021-08-14T18:21:30.697Z,1628965290.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:30.697Z,1628965290.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:30.699Z,1628965290.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:31.108Z,1628965291.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:31.515Z,1628965291.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,004C8,184,80,80,76,FF
2021-08-14T18:21:31.516Z,1628965291.516 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:31.949Z,1628965291.949 [Micromodem](INFO): Nmea in: $SNTTA,0.059792,,,,182132.61*4C

2021-08-14T18:21:31.995Z,1628965291.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 355.026949 deg, deltaT: 4.386058 s, approachRate: -178.547577 m/s, LOS rate: 0.077483 deg/s, posRepo size: 4
2021-08-14T18:21:31.995Z,1628965291.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.94 m.
2021-08-14T18:21:31.997Z,1628965291.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.939999 m,
      bearing: 355.026949 deg,
      approachRate: -178.547577 m/s,
      LOS rate: 0.077483 deg/s,
      cmd update: 0.309930 deg/s,
      cmd heading: 1.660809 deg,
      new cmd heading: 2.915582 deg.

2021-08-14T18:21:32.401Z,1628965292.401 [PowerOnly](INFO): Powering up loadControl
2021-08-14T18:21:32.475Z,1628965292.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:21:32.475Z,1628965292.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:21:32.475Z,1628965292.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:21:32.480Z,1628965292.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:21:32.480Z,1628965292.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:21:32.480Z,1628965292.480 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:21:32.797Z,1628965292.797 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:21:32.797Z,1628965292.797 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:21:32.797Z,1628965292.797 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:21:32.797Z,1628965292.797 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:21:34.142Z,1628965294.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:34.388Z,1628965294.388 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:34.388Z,1628965294.388 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:34.388Z,1628965294.388 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:34.389Z,1628965294.389 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:34.757Z,1628965294.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,004C8,184,80,80,76,FF
2021-08-14T18:21:34.758Z,1628965294.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:34.758Z,1628965294.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:34.759Z,1628965294.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:35.173Z,1628965295.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:35.577Z,1628965295.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,004A1,186,80,80,5B,FF
2021-08-14T18:21:35.578Z,1628965295.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:35.824Z,1628965295.824 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:21:36.033Z,1628965296.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182136.67*50

2021-08-14T18:21:36.115Z,1628965296.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.600002 m, bearing: 350.809635 deg, deltaT: 4.262163 s, approachRate: -0.549016 m/s, LOS rate: -0.989477 deg/s, posRepo size: 4
2021-08-14T18:21:36.116Z,1628965296.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.60 m.
2021-08-14T18:21:36.118Z,1628965296.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 350.809635 deg,
      approachRate: -0.549016 m/s,
      LOS rate: -0.989477 deg/s,
      cmd update: -3.957910 deg/s,
      cmd heading: 2.987011 deg,
      new cmd heading: 3.078263 deg.

2021-08-14T18:21:36.409Z,1628965296.409 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T18:21:37.028Z,1628965297.028 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00
2021-08-14T18:21:37.029Z,1628965297.029 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:21:37.325Z,1628965297.325 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:21:37.721Z,1628965297.721 [Micromodem](INFO): Nmea in: $CADRQ,182138,1,10,0,64,1*77

2021-08-14T18:21:37.722Z,1628965297.722 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00*35

2021-08-14T18:21:38.254Z,1628965298.254 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T18:21:38.663Z,1628965298.663 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T18:21:38.693Z,1628965298.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:39.069Z,1628965299.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:39.069Z,1628965299.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:39.069Z,1628965299.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:39.070Z,1628965299.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:39.461Z,1628965299.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,004A1,186,80,80,5B,FF
2021-08-14T18:21:39.461Z,1628965299.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:39.461Z,1628965299.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:39.463Z,1628965299.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:39.896Z,1628965299.896 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T18:21:39.896Z,1628965299.896 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T18:21:40.291Z,1628965300.291 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,182139.653061,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-14T18:21:40.297Z,1628965300.297 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,182139.653061,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-14T18:21:41.236Z,1628965301.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:44.282Z,1628965304.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:45.284Z,1628965305.284 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.213991
2021-08-14T18:21:46.937Z,1628965306.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:47.283Z,1628965307.283 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:47.283Z,1628965307.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:47.283Z,1628965307.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:47.284Z,1628965307.284 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:47.671Z,1628965307.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,004A1,186,80,80,5B,FF
2021-08-14T18:21:47.671Z,1628965307.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:47.671Z,1628965307.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:49.790Z,1628965309.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:50.578Z,1628965310.578 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:50.945Z,1628965310.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:51.363Z,1628965311.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,00415,189,80,80,93,FF
2021-08-14T18:21:51.363Z,1628965311.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:51.439Z,1628965311.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:21:51.775Z,1628965311.775 [Micromodem](INFO): Nmea in: $SNTTA,0.032882,,,,182152.49*43

2021-08-14T18:21:51.808Z,1628965311.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 303.469212 deg, deltaT: 15.614388 s, approachRate: -0.537966 m/s, LOS rate: -3.031846 deg/s, posRepo size: 4
2021-08-14T18:21:51.808Z,1628965311.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.20 m.
2021-08-14T18:21:51.809Z,1628965311.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 25.20 m.
2021-08-14T18:21:51.809Z,1628965311.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T18:21:51.811Z,1628965311.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 303.469212 deg,
      approachRate: -0.537966 m/s,
      LOS rate: -3.031846 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 301.200714 deg,
      new cmd heading: 299.713166 deg.

2021-08-14T18:21:54.290Z,1628965314.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:54.729Z,1628965314.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:54.729Z,1628965314.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:54.729Z,1628965314.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:54.730Z,1628965314.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:55.154Z,1628965315.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,00415,189,80,80,93,FF
2021-08-14T18:21:55.155Z,1628965315.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:55.155Z,1628965315.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:55.161Z,1628965315.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:21:55.567Z,1628965315.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:21:55.949Z,1628965315.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBF,000,00401,189,80,80,96,FF
2021-08-14T18:21:55.949Z,1628965315.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:21:56.113Z,1628965316.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:21:56.451Z,1628965316.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 357.005518 deg, deltaT: 4.674358 s, approachRate: -0.256719 m/s, LOS rate: 11.453189 deg/s, posRepo size: 4
2021-08-14T18:21:56.453Z,1628965316.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 357.005518 deg,
      approachRate: -0.256719 m/s,
      LOS rate: 11.453189 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 245.264477 deg,
      new cmd heading: 240.970721 deg.

2021-08-14T18:21:56.765Z,1628965316.765 [Micromodem](INFO): Nmea in: $SNTTA,0.049381,,,,182157.12*4C

2021-08-14T18:21:58.866Z,1628965318.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:21:59.233Z,1628965319.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:21:59.233Z,1628965319.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:21:59.233Z,1628965319.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:21:59.234Z,1628965319.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:21:59.653Z,1628965319.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBF,000,00401,189,80,80,96,FF
2021-08-14T18:21:59.653Z,1628965319.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:21:59.653Z,1628965319.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:21:59.655Z,1628965319.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:00.085Z,1628965320.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:00.456Z,1628965320.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E4,189,80,80,BF,FF
2021-08-14T18:22:00.457Z,1628965320.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:00.482Z,1628965320.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:00.883Z,1628965320.883 [Micromodem](INFO): Nmea in: $SNTTA,0.033680,,,,182201.57*44

2021-08-14T18:22:00.946Z,1628965320.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 5.001912 deg, deltaT: 4.369129 s, approachRate: -0.398249 m/s, LOS rate: 1.830203 deg/s, posRepo size: 4
2021-08-14T18:22:00.948Z,1628965320.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 5.001912 deg,
      approachRate: -0.398249 m/s,
      LOS rate: 1.830203 deg/s,
      cmd update: 7.320812 deg/s,
      cmd heading: 297.842995 deg,
      new cmd heading: 303.495811 deg.

2021-08-14T18:22:03.504Z,1628965323.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:03.685Z,1628965323.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:03.685Z,1628965323.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:03.685Z,1628965323.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:03.686Z,1628965323.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:04.133Z,1628965324.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E4,189,80,80,BF,FF
2021-08-14T18:22:04.133Z,1628965324.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:04.133Z,1628965324.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:04.135Z,1628965324.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:04.504Z,1628965324.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:04.889Z,1628965324.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,003E0,186,80,80,A9,FF
2021-08-14T18:22:04.890Z,1628965324.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:04.949Z,1628965324.949 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:05.311Z,1628965325.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182206.04*55

2021-08-14T18:22:05.358Z,1628965325.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 307.432197 deg, deltaT: 4.466423 s, approachRate: -0.053735 m/s, LOS rate: -12.889445 deg/s, posRepo size: 4
2021-08-14T18:22:05.359Z,1628965325.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.889445 deg/s. Setting heading cmd to target bearing of 307.432197deg and heading rate command to 0 deg/s.
2021-08-14T18:22:08.024Z,1628965328.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:08.297Z,1628965328.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:08.297Z,1628965328.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:08.297Z,1628965328.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:08.298Z,1628965328.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:08.649Z,1628965328.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,003E0,186,80,80,A9,FF
2021-08-14T18:22:08.649Z,1628965328.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:08.650Z,1628965328.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:08.651Z,1628965328.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:09.017Z,1628965329.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:09.417Z,1628965329.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,003EC,189,80,80,8F,FF
2021-08-14T18:22:09.418Z,1628965329.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:09.498Z,1628965329.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:09.838Z,1628965329.838 [Micromodem](INFO): Nmea in: $SNTTA,0.041163,,,,182210.56*4A

2021-08-14T18:22:10.125Z,1628965330.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 326.683030 deg, deltaT: 4.549625 s, approachRate: 0.158255 m/s, LOS rate: 4.231301 deg/s, posRepo size: 4
2021-08-14T18:22:10.127Z,1628965330.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.740000 m,
      bearing: 326.683030 deg,
      approachRate: 0.158255 m/s,
      LOS rate: 4.231301 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 307.432197 deg,
      new cmd heading: 307.432197 deg.

2021-08-14T18:22:12.337Z,1628965332.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:12.713Z,1628965332.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:12.713Z,1628965332.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:12.713Z,1628965332.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:12.714Z,1628965332.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:13.121Z,1628965333.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,003EC,189,80,80,8F,FF
2021-08-14T18:22:13.121Z,1628965333.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:13.121Z,1628965333.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:13.123Z,1628965333.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:13.547Z,1628965333.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:13.929Z,1628965333.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,003EE,188,80,80,AF,FF
2021-08-14T18:22:13.929Z,1628965333.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:14.003Z,1628965334.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:14.374Z,1628965334.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182215.03*50

2021-08-14T18:22:14.661Z,1628965334.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 342.109477 deg, deltaT: 4.504171 s, approachRate: 0.026642 m/s, LOS rate: 3.424925 deg/s, posRepo size: 4
2021-08-14T18:22:14.663Z,1628965334.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 342.109477 deg,
      approachRate: 0.026642 m/s,
      LOS rate: 3.424925 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.414642 deg,
      new cmd heading: 9.445787 deg.

2021-08-14T18:22:16.733Z,1628965336.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:16.909Z,1628965336.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:16.909Z,1628965336.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:16.909Z,1628965336.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:16.910Z,1628965336.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:17.293Z,1628965337.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,003EE,188,80,80,AF,FF
2021-08-14T18:22:17.293Z,1628965337.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:17.294Z,1628965337.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:17.295Z,1628965337.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:17.719Z,1628965337.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:18.535Z,1628965338.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182219.21*5C

2021-08-14T18:22:19.347Z,1628965339.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:20.997Z,1628965340.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,188,80,80,AF,FF
2021-08-14T18:22:20.997Z,1628965340.997 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,188,80,80,AF,FF
2021-08-14T18:22:20.998Z,1628965340.998 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:22:21.853Z,1628965341.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:22.205Z,1628965342.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:22.205Z,1628965342.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:22.205Z,1628965342.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:22.206Z,1628965342.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:22.633Z,1628965342.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,188,80,80,AF,FF
2021-08-14T18:22:22.633Z,1628965342.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:22.634Z,1628965342.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:22.635Z,1628965342.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:23.005Z,1628965343.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:23.533Z,1628965343.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E2,189,80,80,9B,FF
2021-08-14T18:22:23.533Z,1628965343.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:23.565Z,1628965343.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:23.942Z,1628965343.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182224.55*51

2021-08-14T18:22:23.968Z,1628965343.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 55.422935 deg, deltaT: 9.562045 s, approachRate: -0.075298 m/s, LOS rate: 7.667132 deg/s, posRepo size: 4
2021-08-14T18:22:23.969Z,1628965343.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 22.14 m.
2021-08-14T18:22:23.970Z,1628965343.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.140001 m,
      bearing: 55.422935 deg,
      approachRate: -0.075298 m/s,
      LOS rate: 7.667132 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.242237 deg,
      new cmd heading: 121.131253 deg.

2021-08-14T18:22:26.405Z,1628965346.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:26.749Z,1628965346.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:26.749Z,1628965346.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:26.749Z,1628965346.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:26.750Z,1628965346.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:27.171Z,1628965347.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E2,189,80,80,9B,FF
2021-08-14T18:22:27.172Z,1628965347.172 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:27.172Z,1628965347.172 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:27.174Z,1628965347.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:27.680Z,1628965347.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:28.109Z,1628965348.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,003CE,18A,80,80,BC,FF
2021-08-14T18:22:28.109Z,1628965348.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:28.187Z,1628965348.187 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:28.499Z,1628965348.499 [Micromodem](INFO): Nmea in: $SNTTA,0.059481,,,,182229.08*4B

2021-08-14T18:22:28.564Z,1628965348.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 44.104389 deg, deltaT: 4.626897 s, approachRate: -0.259354 m/s, LOS rate: -2.446250 deg/s, posRepo size: 4
2021-08-14T18:22:28.566Z,1628965348.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 20.94 m.
2021-08-14T18:22:28.574Z,1628965348.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.939997 m,
      bearing: 44.104389 deg,
      approachRate: -0.259354 m/s,
      LOS rate: -2.446250 deg/s,
      cmd update: -9.784999 deg/s,
      cmd heading: 171.727875 deg,
      new cmd heading: 176.286615 deg.

2021-08-14T18:22:30.932Z,1628965350.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:31.309Z,1628965351.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:31.310Z,1628965351.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:31.310Z,1628965351.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:31.311Z,1628965351.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:31.713Z,1628965351.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,003CE,18A,80,80,BC,FF
2021-08-14T18:22:31.713Z,1628965351.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:31.714Z,1628965351.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:31.715Z,1628965351.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:32.157Z,1628965352.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:32.522Z,1628965352.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,003B5,187,80,80,B4,FF
2021-08-14T18:22:32.523Z,1628965352.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:32.621Z,1628965352.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:32.963Z,1628965352.963 [Micromodem](INFO): Nmea in: $SNTTA,0.039803,,,,182233.62*4C

2021-08-14T18:22:32.993Z,1628965352.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 55.958500 deg, deltaT: 4.429205 s, approachRate: -0.338660 m/s, LOS rate: 2.676352 deg/s, posRepo size: 4
2021-08-14T18:22:32.995Z,1628965352.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.440001 m,
      bearing: 55.958500 deg,
      approachRate: -0.338660 m/s,
      LOS rate: 2.676352 deg/s,
      cmd update: 10.705407 deg/s,
      cmd heading: 128.387286 deg,
      new cmd heading: 124.676012 deg.

2021-08-14T18:22:35.422Z,1628965355.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:35.761Z,1628965355.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:35.761Z,1628965355.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:35.761Z,1628965355.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:35.762Z,1628965355.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:36.197Z,1628965356.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,003B5,187,80,80,B4,FF
2021-08-14T18:22:36.197Z,1628965356.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:36.197Z,1628965356.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:36.199Z,1628965356.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:36.607Z,1628965356.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:36.977Z,1628965356.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00396,186,80,80,8B,FF
2021-08-14T18:22:36.978Z,1628965356.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:37.043Z,1628965357.043 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:37.399Z,1628965357.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182238.11*5C

2021-08-14T18:22:37.433Z,1628965357.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 63.234226 deg, deltaT: 4.422176 s, approachRate: -0.420608 m/s, LOS rate: 1.645282 deg/s, posRepo size: 4
2021-08-14T18:22:37.435Z,1628965357.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 63.234226 deg,
      approachRate: -0.420608 m/s,
      LOS rate: 1.645282 deg/s,
      cmd update: 6.581127 deg/s,
      cmd heading: 175.771773 deg,
      new cmd heading: 179.932857 deg.

2021-08-14T18:22:39.841Z,1628965359.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:40.215Z,1628965360.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:40.215Z,1628965360.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:40.215Z,1628965360.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:40.232Z,1628965360.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:40.669Z,1628965360.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00396,186,80,80,8B,FF
2021-08-14T18:22:40.669Z,1628965360.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:40.669Z,1628965360.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:40.671Z,1628965360.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:41.085Z,1628965361.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:41.473Z,1628965361.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00376,185,80,80,7D,FF
2021-08-14T18:22:41.473Z,1628965361.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:41.554Z,1628965361.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:41.937Z,1628965361.937 [Micromodem](INFO): Nmea in: $SNTTA,0.027573,,,,182242.58*46

2021-08-14T18:22:41.994Z,1628965361.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 64.067017 deg, deltaT: 4.511296 s, approachRate: -0.425598 m/s, LOS rate: 0.184601 deg/s, posRepo size: 4
2021-08-14T18:22:41.996Z,1628965361.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 64.067017 deg,
      approachRate: -0.425598 m/s,
      LOS rate: 0.184601 deg/s,
      cmd update: 0.738405 deg/s,
      cmd heading: 205.351215 deg,
      new cmd heading: 208.376842 deg.

2021-08-14T18:22:42.297Z,1628965362.297 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T18:22:42.882Z,1628965362.882 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00
2021-08-14T18:22:42.883Z,1628965362.883 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:22:43.145Z,1628965363.145 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:22:43.561Z,1628965363.561 [Micromodem](INFO): Nmea in: $CADRQ,182244,1,10,0,64,1*7F

2021-08-14T18:22:43.561Z,1628965363.561 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611B0000005D00000400260000000000000000151D80030C5669C08C799843E38DF6043BFFC358A7CF56F38078876621FA65ABA136177EFB00*35

2021-08-14T18:22:43.945Z,1628965363.945 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T18:22:44.353Z,1628965364.353 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T18:22:44.420Z,1628965364.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:44.745Z,1628965364.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:44.745Z,1628965364.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:44.745Z,1628965364.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:44.746Z,1628965364.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:45.153Z,1628965365.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00376,185,80,80,7D,FF
2021-08-14T18:22:45.153Z,1628965365.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:45.154Z,1628965365.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:45.155Z,1628965365.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:45.562Z,1628965365.562 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T18:22:45.563Z,1628965365.563 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T18:22:45.967Z,1628965365.967 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,182245.491305,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*56

2021-08-14T18:22:45.968Z,1628965365.968 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,182245.491305,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*56

2021-08-14T18:22:47.014Z,1628965367.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:47.605Z,1628965367.605 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T18:22:47.606Z,1628965367.606 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T171856/Courier0027.lzma.parts
2021-08-14T18:22:47.606Z,1628965367.606 [Micromodem](INFO): Packets left to send: 0
2021-08-14T18:22:48.162Z,1628965368.162 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814182248.332625,06,32767,45,0109,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,20.4,3.65,08,-0.65,-01,-0.42,47,14500,4000*4E

2021-08-14T18:22:48.163Z,1628965368.163 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814182248.332625,06,32767,45,0109,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,20.4,3.65,08,-0.65,-01,-0.42,47,14500,4000*4E

2021-08-14T18:22:48.454Z,1628965368.454 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T18:22:48.454Z,1628965368.454 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T18:22:48.454Z,1628965368.454 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T18:22:48.455Z,1628965368.455 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T18:22:48.455Z,1628965368.455 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T18:22:49.787Z,1628965369.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:50.928Z,1628965370.928 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.181881
2021-08-14T18:22:52.605Z,1628965372.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:52.933Z,1628965372.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:22:52.933Z,1628965372.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:22:52.933Z,1628965372.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:22:52.934Z,1628965372.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:22:53.341Z,1628965373.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00376,185,80,80,7D,FF
2021-08-14T18:22:53.341Z,1628965373.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:22:53.341Z,1628965373.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:22:55.386Z,1628965375.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:22:56.166Z,1628965376.166 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:22:56.611Z,1628965376.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:22:56.989Z,1628965376.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45D,000,00329,189,80,80,96,FF
2021-08-14T18:22:56.989Z,1628965376.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:22:57.038Z,1628965377.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:22:57.426Z,1628965377.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182258.07*5D

2021-08-14T18:22:57.448Z,1628965377.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 67.752041 deg, deltaT: 15.483436 s, approachRate: -0.298384 m/s, LOS rate: 0.237998 deg/s, posRepo size: 4
2021-08-14T18:22:57.450Z,1628965377.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 67.752041 deg,
      approachRate: -0.298384 m/s,
      LOS rate: 0.237998 deg/s,
      cmd update: 0.951991 deg/s,
      cmd heading: 216.793687 deg,
      new cmd heading: 217.101809 deg.

2021-08-14T18:22:59.846Z,1628965379.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:00.209Z,1628965380.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:00.209Z,1628965380.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:00.209Z,1628965380.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:00.210Z,1628965380.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:00.641Z,1628965380.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45D,000,00329,189,80,80,96,FF
2021-08-14T18:23:00.641Z,1628965380.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:00.641Z,1628965380.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:00.643Z,1628965380.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:01.029Z,1628965381.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:01.492Z,1628965381.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,0033A,186,80,80,B4,FF
2021-08-14T18:23:01.493Z,1628965381.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:01.514Z,1628965381.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:01.849Z,1628965381.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182302.55*54

2021-08-14T18:23:01.901Z,1628965381.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 118.487130 deg, deltaT: 4.476454 s, approachRate: 0.227859 m/s, LOS rate: 11.333767 deg/s, posRepo size: 4
2021-08-14T18:23:01.903Z,1628965381.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 118.487130 deg,
      approachRate: 0.227859 m/s,
      LOS rate: 11.333767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 221.058181 deg,
      new cmd heading: 221.421905 deg.

2021-08-14T18:23:04.299Z,1628965384.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:04.645Z,1628965384.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:04.645Z,1628965384.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:04.645Z,1628965384.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:04.646Z,1628965384.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:05.053Z,1628965385.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,0033A,186,80,80,B4,FF
2021-08-14T18:23:05.053Z,1628965385.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:05.053Z,1628965385.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:05.055Z,1628965385.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:05.465Z,1628965385.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:05.865Z,1628965385.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,00361,189,80,80,84,FF
2021-08-14T18:23:05.865Z,1628965385.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:05.951Z,1628965385.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:06.305Z,1628965386.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182306.97*5E

2021-08-14T18:23:06.364Z,1628965386.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.400001 m, bearing: 124.527572 deg, deltaT: 4.436819 s, approachRate: 0.527406 m/s, LOS rate: 1.361435 deg/s, posRepo size: 4
2021-08-14T18:23:06.366Z,1628965386.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 124.527572 deg,
      approachRate: 0.527406 m/s,
      LOS rate: 1.361435 deg/s,
      cmd update: 5.445741 deg/s,
      cmd heading: 274.311339 deg,
      new cmd heading: 279.018303 deg.

2021-08-14T18:23:06.682Z,1628965386.682 [PowerOnly](INFO): Powering down loadControl
2021-08-14T18:23:08.726Z,1628965388.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:09.093Z,1628965389.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:09.093Z,1628965389.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:09.094Z,1628965389.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:09.095Z,1628965389.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:09.501Z,1628965389.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,00361,189,80,80,84,FF
2021-08-14T18:23:09.502Z,1628965389.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:09.502Z,1628965389.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:09.504Z,1628965389.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:09.913Z,1628965389.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:10.309Z,1628965390.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,00399,189,80,80,48,FF
2021-08-14T18:23:10.309Z,1628965390.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:10.386Z,1628965390.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:10.810Z,1628965390.810 [Micromodem](INFO): Nmea in: $SNTTA,,0.034007,,,182311.41*4D

2021-08-14T18:23:10.917Z,1628965390.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 133.016268 deg, deltaT: 4.434867 s, approachRate: 0.757632 m/s, LOS rate: 1.914081 deg/s, posRepo size: 4
2021-08-14T18:23:10.919Z,1628965390.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 133.016268 deg,
      approachRate: 0.757632 m/s,
      LOS rate: 1.914081 deg/s,
      cmd update: 7.656325 deg/s,
      cmd heading: 298.461333 deg,
      new cmd heading: 301.368062 deg.

2021-08-14T18:23:13.278Z,1628965393.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:13.649Z,1628965393.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:13.649Z,1628965393.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:13.649Z,1628965393.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:13.650Z,1628965393.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:14.065Z,1628965394.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,00399,189,80,80,48,FF
2021-08-14T18:23:14.065Z,1628965394.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:14.066Z,1628965394.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:14.077Z,1628965394.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:14.546Z,1628965394.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:14.869Z,1628965394.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,003C4,186,80,80,66,FF
2021-08-14T18:23:14.870Z,1628965394.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:14.940Z,1628965394.940 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:15.304Z,1628965395.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 209.748880 deg, deltaT: 4.554447 s, approachRate: 0.566479 m/s, LOS rate: 16.847843 deg/s, posRepo size: 4
2021-08-14T18:23:15.304Z,1628965395.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.34 m. Rolling out.
2021-08-14T18:23:15.305Z,1628965395.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T18:23:17.714Z,1628965397.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:18.144Z,1628965398.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:18.144Z,1628965398.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:18.145Z,1628965398.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:18.145Z,1628965398.145 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:18.501Z,1628965398.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,003C4,186,80,80,66,FF
2021-08-14T18:23:18.501Z,1628965398.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:18.502Z,1628965398.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:18.503Z,1628965398.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:18.905Z,1628965398.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:19.309Z,1628965399.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,445,000,00401,18A,80,80,38,FF
2021-08-14T18:23:19.310Z,1628965399.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:19.330Z,1628965399.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:19.745Z,1628965399.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182320.41*51

2021-08-14T18:23:19.747Z,1628965399.747 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T18:23:19.773Z,1628965399.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 160.166884 deg, deltaT: 4.390155 s, approachRate: 0.833684 m/s, LOS rate: -11.293906 deg/s, posRepo size: 4
2021-08-14T18:23:22.197Z,1628965402.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:22.547Z,1628965402.547 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:22.547Z,1628965402.547 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:22.547Z,1628965402.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:22.548Z,1628965402.548 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:22.941Z,1628965402.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
445,000,00401,18A,80,80,38,FF
2021-08-14T18:23:22.941Z,1628965402.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:22.941Z,1628965402.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:22.943Z,1628965402.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:23.353Z,1628965403.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:23.749Z,1628965403.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00425,185,80,80,8E,FF
2021-08-14T18:23:23.749Z,1628965403.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:23.803Z,1628965403.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:24.197Z,1628965404.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182324.85*5D

2021-08-14T18:23:24.257Z,1628965404.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 253.662052 deg, deltaT: 4.473361 s, approachRate: 0.482858 m/s, LOS rate: 20.900430 deg/s, posRepo size: 4
2021-08-14T18:23:26.637Z,1628965406.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:27.001Z,1628965407.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:27.001Z,1628965407.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:27.001Z,1628965407.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:27.002Z,1628965407.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:27.389Z,1628965407.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,00425,185,80,80,8E,FF
2021-08-14T18:23:27.389Z,1628965407.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:27.389Z,1628965407.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:27.391Z,1628965407.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:27.806Z,1628965407.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:28.253Z,1628965408.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,0044A,187,80,80,4B,FF
2021-08-14T18:23:28.254Z,1628965408.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:28.315Z,1628965408.315 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:28.677Z,1628965408.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182329.30*5E

2021-08-14T18:23:28.713Z,1628965408.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 265.822985 deg, deltaT: 4.510936 s, approachRate: 0.492136 m/s, LOS rate: 2.695878 deg/s, posRepo size: 4
2021-08-14T18:23:31.058Z,1628965411.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:31.425Z,1628965411.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:31.425Z,1628965411.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:31.425Z,1628965411.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:31.426Z,1628965411.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:31.825Z,1628965411.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,0044A,187,80,80,4B,FF
2021-08-14T18:23:31.825Z,1628965411.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:31.826Z,1628965411.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:31.827Z,1628965411.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:32.236Z,1628965412.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:32.649Z,1628965412.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00469,189,80,80,45,FF
2021-08-14T18:23:32.649Z,1628965412.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:32.699Z,1628965412.699 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:33.073Z,1628965413.073 [Micromodem](INFO): Nmea in: $SNTTA,0.064415,,,,182333.74*49

2021-08-14T18:23:33.095Z,1628965413.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 300.646458 deg, deltaT: 4.388881 s, approachRate: 0.423798 m/s, LOS rate: 7.934476 deg/s, posRepo size: 4
2021-08-14T18:23:35.482Z,1628965415.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:35.877Z,1628965415.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:35.878Z,1628965415.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:35.878Z,1628965415.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:35.879Z,1628965415.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:36.281Z,1628965416.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00469,189,80,80,45,FF
2021-08-14T18:23:36.281Z,1628965416.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:36.281Z,1628965416.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:36.283Z,1628965416.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:36.677Z,1628965416.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:37.085Z,1628965417.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00483,186,80,80,85,FF
2021-08-14T18:23:37.086Z,1628965417.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:37.111Z,1628965417.111 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:37.518Z,1628965417.518 [Micromodem](INFO): Nmea in: $SNTTA,0.037987,,,,182338.20*43

2021-08-14T18:23:37.583Z,1628965417.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 265.463963 deg, deltaT: 4.407877 s, approachRate: 0.353912 m/s, LOS rate: -7.981733 deg/s, posRepo size: 4
2021-08-14T18:23:39.933Z,1628965419.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:40.317Z,1628965420.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:40.317Z,1628965420.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:40.317Z,1628965420.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:40.318Z,1628965420.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:40.717Z,1628965420.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00483,186,80,80,85,FF
2021-08-14T18:23:40.717Z,1628965420.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:40.717Z,1628965420.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:40.719Z,1628965420.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:41.137Z,1628965421.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:41.526Z,1628965421.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D79,000,0048E,18A,80,80,7D,FF
2021-08-14T18:23:41.527Z,1628965421.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:41.629Z,1628965421.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:42.092Z,1628965422.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182342.63*55

2021-08-14T18:23:42.169Z,1628965422.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 343.585918 deg, deltaT: 4.517247 s, approachRate: 0.146107 m/s, LOS rate: 17.294152 deg/s, posRepo size: 4
2021-08-14T18:23:44.411Z,1628965424.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:44.765Z,1628965424.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:44.765Z,1628965424.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:44.765Z,1628965424.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:44.766Z,1628965424.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:45.185Z,1628965425.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D79,000,0048E,18A,80,80,7D,FF
2021-08-14T18:23:45.185Z,1628965425.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:45.185Z,1628965425.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:45.187Z,1628965425.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:45.615Z,1628965425.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:45.997Z,1628965425.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B06,000,00488,189,80,80,90,FF
2021-08-14T18:23:45.997Z,1628965425.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:46.122Z,1628965426.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:46.417Z,1628965426.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182347.10*54

2021-08-14T18:23:46.439Z,1628965426.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 35.287800 deg, deltaT: 4.493536 s, approachRate: -0.080116 m/s, LOS rate: 11.505833 deg/s, posRepo size: 4
2021-08-14T18:23:48.843Z,1628965428.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:49.224Z,1628965429.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:49.224Z,1628965429.224 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:49.225Z,1628965429.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:49.226Z,1628965429.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:49.649Z,1628965429.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B06,000,00488,189,80,80,90,FF
2021-08-14T18:23:49.649Z,1628965429.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:49.649Z,1628965429.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:49.651Z,1628965429.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:50.042Z,1628965430.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:50.421Z,1628965430.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0047A,189,80,80,A6,FF
2021-08-14T18:23:50.422Z,1628965430.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:50.449Z,1628965430.449 [Micromodem](INFO): Nmea in: $SNTTA,0.146574,0.146461,,,182351.56*54

2021-08-14T18:23:50.488Z,1628965430.488 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:50.879Z,1628965430.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 47.215732 deg, deltaT: 4.366077 s, approachRate: -0.192392 m/s, LOS rate: 2.731956 deg/s, posRepo size: 4
2021-08-14T18:23:53.283Z,1628965433.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:53.669Z,1628965433.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:53.669Z,1628965433.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:53.669Z,1628965433.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:53.670Z,1628965433.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:54.105Z,1628965434.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0047A,189,80,80,A6,FF
2021-08-14T18:23:54.105Z,1628965434.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:54.105Z,1628965434.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:54.107Z,1628965434.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:54.465Z,1628965434.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:54.867Z,1628965434.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00473,189,80,80,98,FF
2021-08-14T18:23:54.867Z,1628965434.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:54.955Z,1628965434.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:55.377Z,1628965435.377 [Micromodem](INFO): Nmea in: $SNTTA,0.104316,,,,182356.02*48

2021-08-14T18:23:55.424Z,1628965435.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 45.381454 deg, deltaT: 4.466382 s, approachRate: -0.094036 m/s, LOS rate: -0.410685 deg/s, posRepo size: 4
2021-08-14T18:23:57.745Z,1628965437.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:23:58.142Z,1628965438.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:23:58.142Z,1628965438.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:23:58.142Z,1628965438.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:23:58.143Z,1628965438.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:23:58.505Z,1628965438.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00473,189,80,80,98,FF
2021-08-14T18:23:58.505Z,1628965438.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:23:58.505Z,1628965438.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:23:58.507Z,1628965438.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:23:58.923Z,1628965438.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:23:59.321Z,1628965439.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C54,000,00470,189,80,80,67,FF
2021-08-14T18:23:59.321Z,1628965439.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:23:59.341Z,1628965439.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:23:59.754Z,1628965439.754 [Micromodem](INFO): Nmea in: $SNTTA,0.088489,,,,182400.42*4C

2021-08-14T18:23:59.800Z,1628965439.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 27.794948 deg, deltaT: 4.386349 s, approachRate: -0.041036 m/s, LOS rate: -4.009372 deg/s, posRepo size: 4
2021-08-14T18:24:02.234Z,1628965442.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:02.549Z,1628965442.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:02.549Z,1628965442.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:02.550Z,1628965442.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:02.551Z,1628965442.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:02.949Z,1628965442.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C54,000,00470,189,80,80,67,FF
2021-08-14T18:24:02.949Z,1628965442.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:02.949Z,1628965442.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:02.951Z,1628965442.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:03.357Z,1628965443.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:03.757Z,1628965443.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,00467,189,80,80,75,FF
2021-08-14T18:24:03.757Z,1628965443.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:03.838Z,1628965443.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:04.181Z,1628965444.181 [Micromodem](INFO): Nmea in: $SNTTA,0.035439,0.457356,,,182404.86*55

2021-08-14T18:24:04.229Z,1628965444.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 12.683678 deg, deltaT: 4.496987 s, approachRate: -0.120081 m/s, LOS rate: -3.360310 deg/s, posRepo size: 4
2021-08-14T18:24:06.637Z,1628965446.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:07.001Z,1628965447.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:07.001Z,1628965447.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:07.001Z,1628965447.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:07.002Z,1628965447.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:07.393Z,1628965447.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,00467,189,80,80,75,FF
2021-08-14T18:24:07.393Z,1628965447.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:07.393Z,1628965447.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:07.395Z,1628965447.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:07.805Z,1628965447.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:08.202Z,1628965448.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,0046A,186,80,80,6A,FF
2021-08-14T18:24:08.202Z,1628965448.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:08.262Z,1628965448.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:08.753Z,1628965448.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182409.31*5A

2021-08-14T18:24:08.783Z,1628965448.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 4.246276 deg, deltaT: 4.424061 s, approachRate: 0.040688 m/s, LOS rate: -1.907162 deg/s, posRepo size: 4
2021-08-14T18:24:11.058Z,1628965451.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:11.437Z,1628965451.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:11.437Z,1628965451.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:11.437Z,1628965451.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:11.438Z,1628965451.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:11.841Z,1628965451.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,0046A,186,80,80,6A,FF
2021-08-14T18:24:11.841Z,1628965451.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:11.841Z,1628965451.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:11.843Z,1628965451.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:12.265Z,1628965452.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:12.658Z,1628965452.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00470,186,80,80,49,FF
2021-08-14T18:24:12.658Z,1628965452.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:12.692Z,1628965452.692 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:13.086Z,1628965453.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182413.75*51

2021-08-14T18:24:13.107Z,1628965453.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 2.452401 deg, deltaT: 4.429995 s, approachRate: 0.081263 m/s, LOS rate: -0.404938 deg/s, posRepo size: 4
2021-08-14T18:24:15.510Z,1628965455.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:15.886Z,1628965455.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:15.886Z,1628965455.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:15.886Z,1628965455.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:15.887Z,1628965455.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:16.295Z,1628965456.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00470,186,80,80,49,FF
2021-08-14T18:24:16.295Z,1628965456.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:16.295Z,1628965456.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:16.297Z,1628965456.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:16.701Z,1628965456.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:17.102Z,1628965457.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00479,185,80,80,6D,FF
2021-08-14T18:24:17.102Z,1628965457.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:17.128Z,1628965457.128 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:17.542Z,1628965457.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182418.21*5B

2021-08-14T18:24:17.638Z,1628965457.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 0.487443 deg, deltaT: 4.436124 s, approachRate: 0.121729 m/s, LOS rate: -0.442945 deg/s, posRepo size: 4
2021-08-14T18:24:19.981Z,1628965459.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:20.345Z,1628965460.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:20.345Z,1628965460.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:20.345Z,1628965460.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:20.346Z,1628965460.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:20.750Z,1628965460.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00479,185,80,80,6D,FF
2021-08-14T18:24:20.750Z,1628965460.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:20.750Z,1628965460.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:20.752Z,1628965460.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:21.141Z,1628965461.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:21.557Z,1628965461.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,0048A,187,80,80,42,FF
2021-08-14T18:24:21.558Z,1628965461.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:21.626Z,1628965461.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:21.983Z,1628965461.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182422.66*51

2021-08-14T18:24:22.107Z,1628965462.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 327.337280 deg, deltaT: 4.498152 s, approachRate: 0.226760 m/s, LOS rate: -7.369726 deg/s, posRepo size: 4
2021-08-14T18:24:24.419Z,1628965464.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:24.785Z,1628965464.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:24.785Z,1628965464.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:24.785Z,1628965464.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:24.786Z,1628965464.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:25.181Z,1628965465.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,0048A,187,80,80,42,FF
2021-08-14T18:24:25.181Z,1628965465.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:25.181Z,1628965465.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:25.183Z,1628965465.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:25.614Z,1628965465.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:25.993Z,1628965465.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,004A0,187,80,80,5D,FF
2021-08-14T18:24:25.994Z,1628965465.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:26.127Z,1628965466.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:26.407Z,1628965466.407 [Micromodem](INFO): Nmea in: $SNTTA,0.062552,0.380350,,,182427.10*5E

2021-08-14T18:24:26.443Z,1628965466.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 5.267467 deg, deltaT: 4.505624 s, approachRate: 0.292966 m/s, LOS rate: 8.418410 deg/s, posRepo size: 4
2021-08-14T18:24:28.865Z,1628965468.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:29.226Z,1628965469.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:29.226Z,1628965469.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:29.226Z,1628965469.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:29.227Z,1628965469.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:29.645Z,1628965469.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,004A0,187,80,80,5D,FF
2021-08-14T18:24:29.645Z,1628965469.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:29.645Z,1628965469.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:29.647Z,1628965469.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:30.052Z,1628965470.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:30.441Z,1628965470.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33A,000,004BE,18A,80,80,65,FF
2021-08-14T18:24:30.442Z,1628965470.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:30.462Z,1628965470.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:30.865Z,1628965470.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182431.56*50

2021-08-14T18:24:30.896Z,1628965470.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 297.948097 deg, deltaT: 4.329611 s, approachRate: 0.415742 m/s, LOS rate: -15.548596 deg/s, posRepo size: 4
2021-08-14T18:24:33.287Z,1628965473.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:33.669Z,1628965473.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:33.669Z,1628965473.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:33.669Z,1628965473.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:33.670Z,1628965473.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:34.106Z,1628965474.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33A,000,004BE,18A,80,80,65,FF
2021-08-14T18:24:34.107Z,1628965474.107 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:34.107Z,1628965474.107 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:34.109Z,1628965474.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:34.481Z,1628965474.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:34.889Z,1628965474.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C88,000,004D1,189,80,80,71,FF
2021-08-14T18:24:34.890Z,1628965474.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:34.920Z,1628965474.920 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:35.310Z,1628965475.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182436.02*56

2021-08-14T18:24:35.338Z,1628965475.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 24.072597 deg, deltaT: 4.458707 s, approachRate: 0.255679 m/s, LOS rate: 19.316024 deg/s, posRepo size: 4
2021-08-14T18:24:37.770Z,1628965477.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:38.137Z,1628965478.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:38.137Z,1628965478.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:38.137Z,1628965478.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:38.138Z,1628965478.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:38.514Z,1628965478.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C88,000,004D1,189,80,80,71,FF
2021-08-14T18:24:38.514Z,1628965478.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:38.514Z,1628965478.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:38.517Z,1628965478.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:38.920Z,1628965478.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:39.330Z,1628965479.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,004EE,189,80,80,89,FF
2021-08-14T18:24:39.330Z,1628965479.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:39.350Z,1628965479.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:39.765Z,1628965479.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182440.43*52

2021-08-14T18:24:39.815Z,1628965479.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 17.406624 deg, deltaT: 4.429968 s, approachRate: 0.392780 m/s, LOS rate: -1.504745 deg/s, posRepo size: 4
2021-08-14T18:24:42.178Z,1628965482.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:42.561Z,1628965482.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:42.562Z,1628965482.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:42.562Z,1628965482.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:42.563Z,1628965482.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:42.957Z,1628965482.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,004EE,189,80,80,89,FF
2021-08-14T18:24:42.957Z,1628965482.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:42.957Z,1628965482.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:42.959Z,1628965482.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:43.369Z,1628965483.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:43.765Z,1628965483.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,0050B,187,80,80,50,FF
2021-08-14T18:24:43.765Z,1628965483.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:43.831Z,1628965483.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:44.209Z,1628965484.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182444.87*5E

2021-08-14T18:24:44.273Z,1628965484.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 4.692827 deg, deltaT: 4.480896 s, approachRate: 0.388315 m/s, LOS rate: -2.837334 deg/s, posRepo size: 4
2021-08-14T18:24:46.660Z,1628965486.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:47.024Z,1628965487.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:47.025Z,1628965487.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:47.025Z,1628965487.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:47.025Z,1628965487.025 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:47.405Z,1628965487.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,0050B,187,80,80,50,FF
2021-08-14T18:24:47.405Z,1628965487.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:47.405Z,1628965487.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:47.407Z,1628965487.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:47.813Z,1628965487.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:48.223Z,1628965488.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,0052C,186,80,80,31,FF
2021-08-14T18:24:48.224Z,1628965488.224 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:48.227Z,1628965488.227 [Micromodem](INFO): Nmea in: $SNTTA,0.066778,0.268965,,,182449.32*53

2021-08-14T18:24:48.292Z,1628965488.292 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:24:48.703Z,1628965488.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 355.805154 deg, deltaT: 4.461191 s, approachRate: 0.443828 m/s, LOS rate: -1.992221 deg/s, posRepo size: 4
2021-08-14T18:24:49.059Z,1628965489.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:24:49.059Z,1628965489.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:24:49.060Z,1628965489.060 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:24:49.060Z,1628965489.060 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:24:49.061Z,1628965489.061 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:24:49.061Z,1628965489.061 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:24:49.515Z,1628965489.515 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:24:49.515Z,1628965489.515 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:24:49.515Z,1628965489.515 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:24:49.515Z,1628965489.515 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:24:51.067Z,1628965491.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:51.441Z,1628965491.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:51.441Z,1628965491.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:51.441Z,1628965491.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:51.442Z,1628965491.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:51.849Z,1628965491.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,0052C,186,80,80,31,FF
2021-08-14T18:24:51.849Z,1628965491.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:51.850Z,1628965491.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:51.851Z,1628965491.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:52.257Z,1628965492.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:52.657Z,1628965492.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,0054D,186,80,80,A2,FF
2021-08-14T18:24:52.657Z,1628965492.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:53.093Z,1628965493.093 [Micromodem](INFO): Nmea in: $SNTTA,0.055124,,,,182453.77*4E

2021-08-14T18:24:53.128Z,1628965493.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 356.674637 deg, deltaT: 4.435739 s, approachRate: 0.446374 m/s, LOS rate: 0.196018 deg/s, posRepo size: 4
2021-08-14T18:24:55.527Z,1628965495.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:24:55.909Z,1628965495.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:24:55.909Z,1628965495.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:24:55.909Z,1628965495.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:24:55.910Z,1628965495.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:24:56.301Z,1628965496.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,0054D,186,80,80,A2,FF
2021-08-14T18:24:56.301Z,1628965496.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:24:56.301Z,1628965496.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:24:56.303Z,1628965496.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:24:56.725Z,1628965496.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:24:57.109Z,1628965497.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00578,186,80,80,A0,FF
2021-08-14T18:24:57.109Z,1628965497.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:24:57.542Z,1628965497.542 [Micromodem](INFO): Nmea in: $SNTTA,0.030554,,,,182458.21*46

2021-08-14T18:24:57.622Z,1628965497.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.500004 m, bearing: 355.913918 deg, deltaT: 4.400820 s, approachRate: 0.586255 m/s, LOS rate: -0.172859 deg/s, posRepo size: 4
2021-08-14T18:24:59.985Z,1628965499.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:00.333Z,1628965500.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:00.333Z,1628965500.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:00.333Z,1628965500.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:00.334Z,1628965500.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:00.757Z,1628965500.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00578,186,80,80,A0,FF
2021-08-14T18:25:00.757Z,1628965500.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:00.757Z,1628965500.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:00.759Z,1628965500.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:01.153Z,1628965501.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:01.562Z,1628965501.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,0059E,188,80,80,66,FF
2021-08-14T18:25:01.563Z,1628965501.563 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:01.973Z,1628965501.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182502.67*53

2021-08-14T18:25:02.091Z,1628965502.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 18.403620 deg, deltaT: 4.513426 s, approachRate: 0.505158 m/s, LOS rate: 4.982845 deg/s, posRepo size: 4
2021-08-14T18:25:04.437Z,1628965504.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:04.786Z,1628965504.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:04.786Z,1628965504.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:04.786Z,1628965504.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:04.787Z,1628965504.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:05.181Z,1628965505.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,0059E,188,80,80,66,FF
2021-08-14T18:25:05.181Z,1628965505.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:05.181Z,1628965505.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:05.183Z,1628965505.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:05.611Z,1628965505.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:05.989Z,1628965505.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,005BE,18A,80,80,76,FF
2021-08-14T18:25:05.990Z,1628965505.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:06.419Z,1628965506.419 [Micromodem](INFO): Nmea in: $SNTTA,0.051723,0.337340,,,182507.10*54

2021-08-14T18:25:06.496Z,1628965506.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 13.784455 deg, deltaT: 4.406043 s, approachRate: 0.435766 m/s, LOS rate: -1.048371 deg/s, posRepo size: 4
2021-08-14T18:25:08.901Z,1628965508.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:09.225Z,1628965509.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:09.225Z,1628965509.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:09.225Z,1628965509.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:09.226Z,1628965509.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:09.646Z,1628965509.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,005BE,18A,80,80,76,FF
2021-08-14T18:25:09.647Z,1628965509.647 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:09.647Z,1628965509.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:09.650Z,1628965509.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:10.133Z,1628965510.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:10.445Z,1628965510.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,005E7,188,80,80,94,FF
2021-08-14T18:25:10.445Z,1628965510.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:10.866Z,1628965510.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182511.56*53

2021-08-14T18:25:10.892Z,1628965510.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 5.956407 deg, deltaT: 4.459786 s, approachRate: 0.551596 m/s, LOS rate: -1.755252 deg/s, posRepo size: 4
2021-08-14T18:25:13.290Z,1628965513.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:13.669Z,1628965513.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:13.669Z,1628965513.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:13.669Z,1628965513.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:13.670Z,1628965513.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:14.113Z,1628965514.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,005E7,188,80,80,94,FF
2021-08-14T18:25:14.113Z,1628965514.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:14.113Z,1628965514.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:14.115Z,1628965514.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:14.486Z,1628965514.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:14.881Z,1628965514.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0060D,186,80,80,96,FF
2021-08-14T18:25:14.882Z,1628965514.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:15.303Z,1628965515.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182516.03*54

2021-08-14T18:25:15.356Z,1628965515.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 1.149786 deg, deltaT: 4.447746 s, approachRate: 0.512620 m/s, LOS rate: -1.080687 deg/s, posRepo size: 4
2021-08-14T18:25:17.746Z,1628965517.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:18.149Z,1628965518.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:18.149Z,1628965518.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:18.149Z,1628965518.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:18.150Z,1628965518.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:18.527Z,1628965518.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0060D,186,80,80,96,FF
2021-08-14T18:25:18.527Z,1628965518.527 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:18.527Z,1628965518.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:18.530Z,1628965518.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:18.937Z,1628965518.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:19.321Z,1628965519.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00639,186,80,80,9E,FF
2021-08-14T18:25:19.322Z,1628965519.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:19.766Z,1628965519.766 [Micromodem](INFO): Nmea in: $SNTTA,0.068534,,,,182520.44*40

2021-08-14T18:25:19.792Z,1628965519.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 358.401555 deg, deltaT: 4.418393 s, approachRate: 0.597504 m/s, LOS rate: -0.622000 deg/s, posRepo size: 4
2021-08-14T18:25:22.168Z,1628965522.168 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:25:22.184Z,1628965522.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:22.565Z,1628965522.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:22.565Z,1628965522.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:22.565Z,1628965522.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:22.566Z,1628965522.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:22.965Z,1628965522.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00639,186,80,80,9E,FF
2021-08-14T18:25:22.965Z,1628965522.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:22.965Z,1628965522.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:22.967Z,1628965522.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:23.373Z,1628965523.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:23.769Z,1628965523.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7E,000,00663,186,80,80,92,FF
2021-08-14T18:25:23.769Z,1628965523.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:24.210Z,1628965524.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182524.88*56

2021-08-14T18:25:24.250Z,1628965524.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 358.432427 deg, deltaT: 4.466739 s, approachRate: 0.564168 m/s, LOS rate: 0.006912 deg/s, posRepo size: 4
2021-08-14T18:25:26.646Z,1628965526.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:27.009Z,1628965527.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:27.009Z,1628965527.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:27.009Z,1628965527.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:27.010Z,1628965527.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:27.405Z,1628965527.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7E,000,00663,186,80,80,92,FF
2021-08-14T18:25:27.405Z,1628965527.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:27.405Z,1628965527.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:27.407Z,1628965527.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:27.813Z,1628965527.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:28.221Z,1628965528.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00690,185,80,80,5E,FF
2021-08-14T18:25:28.221Z,1628965528.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:28.669Z,1628965528.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182529.32*5A

2021-08-14T18:25:28.695Z,1628965528.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 357.413472 deg, deltaT: 4.456808 s, approachRate: 0.605815 m/s, LOS rate: -0.228629 deg/s, posRepo size: 4
2021-08-14T18:25:31.111Z,1628965531.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:31.469Z,1628965531.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:31.469Z,1628965531.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:31.469Z,1628965531.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:31.470Z,1628965531.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:31.869Z,1628965531.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00690,185,80,80,5E,FF
2021-08-14T18:25:31.869Z,1628965531.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:31.869Z,1628965531.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:31.871Z,1628965531.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:32.276Z,1628965532.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:32.303Z,1628965532.303 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-14T18:25:32.681Z,1628965532.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,006BA,187,80,80,8D,FF
2021-08-14T18:25:32.681Z,1628965532.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:33.109Z,1628965533.109 [Micromodem](INFO): Nmea in: $SNTTA,0.083464,,,,182533.78*4C

2021-08-14T18:25:33.144Z,1628965533.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 345.640849 deg, deltaT: 4.437771 s, approachRate: 0.567853 m/s, LOS rate: -2.652823 deg/s, posRepo size: 4
2021-08-14T18:25:35.552Z,1628965535.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:35.901Z,1628965535.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:35.901Z,1628965535.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:35.901Z,1628965535.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:35.902Z,1628965535.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:36.309Z,1628965536.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,006BA,187,80,80,8D,FF
2021-08-14T18:25:36.309Z,1628965536.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:36.309Z,1628965536.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:36.311Z,1628965536.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:36.721Z,1628965536.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:37.117Z,1628965537.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,006E6,187,80,80,8A,FF
2021-08-14T18:25:37.117Z,1628965537.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:37.572Z,1628965537.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182538.22*5B

2021-08-14T18:25:37.631Z,1628965537.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 351.032682 deg, deltaT: 4.433799 s, approachRate: 0.595426 m/s, LOS rate: 1.216075 deg/s, posRepo size: 4
2021-08-14T18:25:39.980Z,1628965539.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:40.354Z,1628965540.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:40.354Z,1628965540.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:40.354Z,1628965540.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:40.355Z,1628965540.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:40.764Z,1628965540.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,006E6,187,80,80,8A,FF
2021-08-14T18:25:40.764Z,1628965540.764 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:40.765Z,1628965540.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:40.766Z,1628965540.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:41.157Z,1628965541.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:41.582Z,1628965541.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,00710,185,80,80,91,FF
2021-08-14T18:25:41.584Z,1628965541.584 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:41.993Z,1628965541.993 [Micromodem](INFO): Nmea in: $SNTTA,0.054589,,,,182542.68*43

2021-08-14T18:25:42.117Z,1628965542.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.980003 m, bearing: 354.123288 deg, deltaT: 4.490478 s, approachRate: 0.561188 m/s, LOS rate: 0.688258 deg/s, posRepo size: 4
2021-08-14T18:25:44.457Z,1628965544.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:44.813Z,1628965544.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:44.813Z,1628965544.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:44.813Z,1628965544.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:44.814Z,1628965544.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:45.193Z,1628965545.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,00710,185,80,80,91,FF
2021-08-14T18:25:45.193Z,1628965545.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:45.193Z,1628965545.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:45.195Z,1628965545.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:45.620Z,1628965545.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:46.001Z,1628965546.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00739,188,80,80,2A,FF
2021-08-14T18:25:46.002Z,1628965546.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:46.437Z,1628965546.437 [Micromodem](INFO): Nmea in: $SNTTA,0.054426,,,,182547.11*4C

2021-08-14T18:25:46.484Z,1628965546.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 344.312869 deg, deltaT: 4.434831 s, approachRate: 0.554700 m/s, LOS rate: -2.212129 deg/s, posRepo size: 4
2021-08-14T18:25:48.870Z,1628965548.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:49.237Z,1628965549.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:49.237Z,1628965549.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:49.237Z,1628965549.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:49.238Z,1628965549.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:49.657Z,1628965549.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00739,188,80,80,2A,FF
2021-08-14T18:25:49.657Z,1628965549.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:49.658Z,1628965549.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:49.659Z,1628965549.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:50.100Z,1628965550.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:50.457Z,1628965550.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,0076F,186,80,80,69,FF
2021-08-14T18:25:50.458Z,1628965550.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:50.877Z,1628965550.877 [Micromodem](INFO): Nmea in: $SNTTA,0.060056,,,,182551.57*4D

2021-08-14T18:25:50.915Z,1628965550.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.680000 m, bearing: 349.734400 deg, deltaT: 4.456336 s, approachRate: 0.727054 m/s, LOS rate: 1.216589 deg/s, posRepo size: 4
2021-08-14T18:25:52.142Z,1628965552.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T18:25:53.305Z,1628965553.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:53.681Z,1628965553.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:53.681Z,1628965553.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:53.681Z,1628965553.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:53.682Z,1628965553.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:54.133Z,1628965554.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,0076F,186,80,80,69,FF
2021-08-14T18:25:54.133Z,1628965554.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:54.133Z,1628965554.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:54.135Z,1628965554.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:54.498Z,1628965554.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:54.904Z,1628965554.904 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,0079E,187,80,80,6F,FF
2021-08-14T18:25:54.905Z,1628965554.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:55.315Z,1628965555.315 [Micromodem](INFO): Nmea in: $SNTTA,0.075068,,,,182556.05*44

2021-08-14T18:25:55.359Z,1628965555.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 352.548383 deg, deltaT: 4.383203 s, approachRate: 0.643367 m/s, LOS rate: 0.641992 deg/s, posRepo size: 4
2021-08-14T18:25:57.802Z,1628965557.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:25:58.169Z,1628965558.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:25:58.169Z,1628965558.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:25:58.169Z,1628965558.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:25:58.170Z,1628965558.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:25:58.580Z,1628965558.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,0079E,187,80,80,6F,FF
2021-08-14T18:25:58.580Z,1628965558.580 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:25:58.581Z,1628965558.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:25:58.588Z,1628965558.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:25:58.993Z,1628965558.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:25:59.369Z,1628965559.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,007C4,186,80,80,91,FF
2021-08-14T18:25:59.370Z,1628965559.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:25:59.801Z,1628965559.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182600.50*56

2021-08-14T18:25:59.836Z,1628965559.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.780006 m, bearing: 351.348073 deg, deltaT: 4.488772 s, approachRate: 0.507934 m/s, LOS rate: -0.267403 deg/s, posRepo size: 4
2021-08-14T18:26:02.250Z,1628965562.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:02.649Z,1628965562.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:02.649Z,1628965562.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:02.649Z,1628965562.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:02.650Z,1628965562.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:03.021Z,1628965563.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,007C4,186,80,80,91,FF
2021-08-14T18:26:03.021Z,1628965563.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:03.021Z,1628965563.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:03.023Z,1628965563.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:03.432Z,1628965563.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:03.825Z,1628965563.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,007F5,186,80,80,65,FF
2021-08-14T18:26:03.825Z,1628965563.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:04.245Z,1628965564.245 [Micromodem](INFO): Nmea in: $SNTTA,0.419136,0.458829,,,182604.94*58

2021-08-14T18:26:04.299Z,1628965564.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 0.665870 deg, deltaT: 4.451236 s, approachRate: 0.660488 m/s, LOS rate: 2.093304 deg/s, posRepo size: 4
2021-08-14T18:26:06.694Z,1628965566.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:07.053Z,1628965567.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:07.053Z,1628965567.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:07.053Z,1628965567.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:07.054Z,1628965567.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:07.461Z,1628965567.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,007F5,186,80,80,65,FF
2021-08-14T18:26:07.461Z,1628965567.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:07.461Z,1628965567.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:07.463Z,1628965567.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:07.890Z,1628965567.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:08.285Z,1628965568.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00821,187,80,80,73,FF
2021-08-14T18:26:08.286Z,1628965568.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:08.289Z,1628965568.289 [Micromodem](INFO): Nmea in: $SNTTA,0.239106,0.238981,,,182609.38*57

2021-08-14T18:26:08.731Z,1628965568.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.360008 m, bearing: 353.082094 deg, deltaT: 4.501901 s, approachRate: 0.586422 m/s, LOS rate: -1.684570 deg/s, posRepo size: 4
2021-08-14T18:26:11.142Z,1628965571.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:11.537Z,1628965571.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:11.537Z,1628965571.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:11.537Z,1628965571.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:11.538Z,1628965571.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:11.910Z,1628965571.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,00821,187,80,80,73,FF
2021-08-14T18:26:11.910Z,1628965571.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:11.910Z,1628965571.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:11.912Z,1628965571.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:12.333Z,1628965572.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:12.717Z,1628965572.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,0084E,186,80,80,75,FF
2021-08-14T18:26:12.717Z,1628965572.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:13.166Z,1628965573.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182613.82*5B

2021-08-14T18:26:13.191Z,1628965573.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.060005 m, bearing: 351.961779 deg, deltaT: 4.403689 s, approachRate: 0.613122 m/s, LOS rate: -0.254404 deg/s, posRepo size: 4
2021-08-14T18:26:15.619Z,1628965575.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:15.953Z,1628965575.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:15.953Z,1628965575.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:15.953Z,1628965575.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:15.954Z,1628965575.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:16.370Z,1628965576.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,0084E,186,80,80,75,FF
2021-08-14T18:26:16.370Z,1628965576.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:16.370Z,1628965576.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:16.373Z,1628965576.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:16.776Z,1628965576.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:17.178Z,1628965577.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,0087E,186,80,80,80,FF
2021-08-14T18:26:17.179Z,1628965577.179 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:17.617Z,1628965577.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182618.29*51

2021-08-14T18:26:17.643Z,1628965577.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.940010 m, bearing: 349.385732 deg, deltaT: 4.462557 s, approachRate: 0.645371 m/s, LOS rate: -0.577258 deg/s, posRepo size: 4
2021-08-14T18:26:20.040Z,1628965580.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:20.393Z,1628965580.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:20.393Z,1628965580.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:20.393Z,1628965580.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:20.395Z,1628965580.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:20.805Z,1628965580.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,0087E,186,80,80,80,FF
2021-08-14T18:26:20.805Z,1628965580.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:20.805Z,1628965580.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:20.807Z,1628965580.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:21.207Z,1628965581.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:22.045Z,1628965582.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182622.72*56

2021-08-14T18:26:22.914Z,1628965582.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:24.083Z,1628965584.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,801,000,0087E,186,80,80,80,FF
2021-08-14T18:26:24.088Z,1628965584.088 [DUSBL_Hydroid](INFO): No reply:!U1,N,801,000,0087E,186,80,80,80,FF
2021-08-14T18:26:24.089Z,1628965584.089 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:26:25.697Z,1628965585.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:26.069Z,1628965586.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:26.069Z,1628965586.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:26.070Z,1628965586.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:26.076Z,1628965586.076 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:26.453Z,1628965586.453 [DUSBL_Hydroid](INFO): DUSBL response received:,80,63,E4
!U1,P
87E,186,80,80,80,FF
2021-08-14T18:26:26.453Z,1628965586.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:26.453Z,1628965586.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:26.455Z,1628965586.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:26.860Z,1628965586.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:27.261Z,1628965587.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,008E7,182,80,80,59,FF
2021-08-14T18:26:27.261Z,1628965587.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:27.706Z,1628965587.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182628.37*5D

2021-08-14T18:26:27.761Z,1628965587.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.239998 m, bearing: 337.079671 deg, deltaT: 10.038924 s, approachRate: 0.627556 m/s, LOS rate: -1.225835 deg/s, posRepo size: 4
2021-08-14T18:26:30.203Z,1628965590.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:30.509Z,1628965590.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:30.509Z,1628965590.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:30.509Z,1628965590.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:30.510Z,1628965590.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:30.901Z,1628965590.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,008E7,182,80,80,59,FF
2021-08-14T18:26:30.901Z,1628965590.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:30.901Z,1628965590.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:30.903Z,1628965590.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:31.320Z,1628965591.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:31.705Z,1628965591.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00907,187,80,80,81,FF
2021-08-14T18:26:31.705Z,1628965591.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:32.177Z,1628965592.177 [Micromodem](INFO): Nmea in: $SNTTA,0.075146,,,,182632.81*44

2021-08-14T18:26:32.228Z,1628965592.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 348.890844 deg, deltaT: 4.522671 s, approachRate: 0.424529 m/s, LOS rate: 2.611548 deg/s, posRepo size: 4
2021-08-14T18:26:34.613Z,1628965594.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:34.951Z,1628965594.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:34.951Z,1628965594.951 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:34.951Z,1628965594.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:34.953Z,1628965594.953 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:35.342Z,1628965595.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00907,187,80,80,81,FF
2021-08-14T18:26:35.343Z,1628965595.343 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:35.344Z,1628965595.344 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:35.348Z,1628965595.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:35.757Z,1628965595.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:36.203Z,1628965596.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00936,186,80,80,8D,FF
2021-08-14T18:26:36.203Z,1628965596.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:36.206Z,1628965596.206 [Micromodem](INFO): Nmea in: $SNTTA,0.258273,0.257654,,,182637.26*5D

2021-08-14T18:26:36.536Z,1628965596.536 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T18:26:36.542Z,1628965596.542 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T18:26:36.688Z,1628965596.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 349.160800 deg, deltaT: 4.485470 s, approachRate: 0.628697 m/s, LOS rate: 0.060185 deg/s, posRepo size: 4
2021-08-14T18:26:39.018Z,1628965599.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:39.385Z,1628965599.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:39.385Z,1628965599.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:39.385Z,1628965599.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:39.386Z,1628965599.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:39.789Z,1628965599.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00936,186,80,80,8D,FF
2021-08-14T18:26:39.789Z,1628965599.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:39.789Z,1628965599.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:39.791Z,1628965599.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:40.197Z,1628965600.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:40.626Z,1628965600.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00966,187,80,80,91,FF
2021-08-14T18:26:40.627Z,1628965600.627 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:41.029Z,1628965601.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182641.70*51

2021-08-14T18:26:41.059Z,1628965601.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 343.565564 deg, deltaT: 4.368259 s, approachRate: 0.659301 m/s, LOS rate: -1.280885 deg/s, posRepo size: 4
2021-08-14T18:26:43.457Z,1628965603.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:43.825Z,1628965603.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:43.825Z,1628965603.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:43.825Z,1628965603.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:43.826Z,1628965603.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:44.229Z,1628965604.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00966,187,80,80,91,FF
2021-08-14T18:26:44.229Z,1628965604.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:44.229Z,1628965604.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:44.231Z,1628965604.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:44.657Z,1628965604.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:45.037Z,1628965605.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04F,000,00999,184,80,80,7E,FF
2021-08-14T18:26:45.037Z,1628965605.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:45.485Z,1628965605.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182646.14*54

2021-08-14T18:26:45.508Z,1628965605.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 332.921834 deg, deltaT: 4.399010 s, approachRate: 0.695611 m/s, LOS rate: -2.419574 deg/s, posRepo size: 4
2021-08-14T18:26:47.918Z,1628965607.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:48.262Z,1628965608.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:48.262Z,1628965608.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:48.263Z,1628965608.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:48.264Z,1628965608.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:48.678Z,1628965608.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04F,000,00999,184,80,80,7E,FF
2021-08-14T18:26:48.678Z,1628965608.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:48.678Z,1628965608.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:48.680Z,1628965608.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:49.081Z,1628965609.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:49.485Z,1628965609.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,009C4,185,80,80,94,FF
2021-08-14T18:26:49.486Z,1628965609.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:49.921Z,1628965609.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182650.59*5A

2021-08-14T18:26:49.971Z,1628965609.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.500008 m, bearing: 340.120662 deg, deltaT: 4.449532 s, approachRate: 0.579838 m/s, LOS rate: 1.617884 deg/s, posRepo size: 4
2021-08-14T18:26:52.388Z,1628965612.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:52.717Z,1628965612.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:52.718Z,1628965612.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:52.718Z,1628965612.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:52.719Z,1628965612.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:53.117Z,1628965613.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,009C4,185,80,80,94,FF
2021-08-14T18:26:53.117Z,1628965613.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:53.117Z,1628965613.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:53.119Z,1628965613.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:53.531Z,1628965613.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:53.925Z,1628965613.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,009F4,183,80,80,7B,FF
2021-08-14T18:26:53.926Z,1628965613.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:54.343Z,1628965614.343 [Micromodem](INFO): Nmea in: $SNTTA,0.089752,0.412384,,,182655.03*59

2021-08-14T18:26:54.404Z,1628965614.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.380005 m, bearing: 339.353742 deg, deltaT: 4.449772 s, approachRate: 0.647224 m/s, LOS rate: -0.172351 deg/s, posRepo size: 4
2021-08-14T18:26:56.781Z,1628965616.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:26:57.181Z,1628965617.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:26:57.181Z,1628965617.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:26:57.181Z,1628965617.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:26:57.182Z,1628965617.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:26:57.587Z,1628965617.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,009F4,183,80,80,7B,FF
2021-08-14T18:26:57.587Z,1628965617.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:26:57.588Z,1628965617.588 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:26:57.595Z,1628965617.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:26:57.976Z,1628965617.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:26:58.377Z,1628965618.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,054,000,00A23,184,80,80,74,FF
2021-08-14T18:26:58.377Z,1628965618.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:26:58.791Z,1628965618.791 [Micromodem](INFO): Nmea in: $SNTTA,0.174609,,,,182659.51*48

2021-08-14T18:26:58.834Z,1628965618.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.199997 m, bearing: 333.729900 deg, deltaT: 4.504148 s, approachRate: 0.626088 m/s, LOS rate: -1.248592 deg/s, posRepo size: 4
2021-08-14T18:27:01.219Z,1628965621.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:01.629Z,1628965621.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:01.629Z,1628965621.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:01.629Z,1628965621.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:01.630Z,1628965621.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:02.005Z,1628965622.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
054,000,00A23,184,80,80,74,FF
2021-08-14T18:27:02.005Z,1628965622.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:02.005Z,1628965622.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:02.007Z,1628965622.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:02.412Z,1628965622.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:02.817Z,1628965622.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00A50,183,80,80,84,FF
2021-08-14T18:27:02.817Z,1628965622.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:03.261Z,1628965623.261 [Micromodem](INFO): Nmea in: $SNTTA,0.092100,,,,182703.92*4E

2021-08-14T18:27:03.277Z,1628965623.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 338.250010 deg, deltaT: 4.423344 s, approachRate: 0.610399 m/s, LOS rate: 1.021876 deg/s, posRepo size: 4
2021-08-14T18:27:05.694Z,1628965625.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:06.064Z,1628965626.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:06.065Z,1628965626.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:06.065Z,1628965626.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:06.067Z,1628965626.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:06.468Z,1628965626.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00A50,183,80,80,84,FF
2021-08-14T18:27:06.468Z,1628965626.468 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:06.468Z,1628965626.468 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:06.470Z,1628965626.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:06.865Z,1628965626.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:07.261Z,1628965627.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00A81,184,80,80,7E,FF
2021-08-14T18:27:07.261Z,1628965627.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:07.689Z,1628965627.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182708.39*50

2021-08-14T18:27:07.720Z,1628965627.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.840004 m, bearing: 341.510114 deg, deltaT: 4.437505 s, approachRate: 0.662535 m/s, LOS rate: 0.734670 deg/s, posRepo size: 4
2021-08-14T18:27:10.173Z,1628965630.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:10.496Z,1628965630.496 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:10.496Z,1628965630.496 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:10.496Z,1628965630.496 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:10.497Z,1628965630.497 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:10.893Z,1628965630.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00A81,184,80,80,7E,FF
2021-08-14T18:27:10.893Z,1628965630.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:10.893Z,1628965630.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:10.895Z,1628965630.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:11.309Z,1628965631.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:11.713Z,1628965631.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00AAD,185,80,80,88,FF
2021-08-14T18:27:11.714Z,1628965631.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:12.162Z,1628965632.162 [Micromodem](INFO): Nmea in: $SNTTA,,0.480691,,,182712.81*44

2021-08-14T18:27:12.218Z,1628965632.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.480003 m, bearing: 344.244048 deg, deltaT: 4.422467 s, approachRate: 0.596952 m/s, LOS rate: 0.618192 deg/s, posRepo size: 4
2021-08-14T18:27:14.601Z,1628965634.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:14.945Z,1628965634.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:14.945Z,1628965634.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:14.946Z,1628965634.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:14.947Z,1628965634.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:15.345Z,1628965635.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00AAD,185,80,80,88,FF
2021-08-14T18:27:15.345Z,1628965635.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:15.345Z,1628965635.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:15.347Z,1628965635.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:15.761Z,1628965635.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:16.166Z,1628965636.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00ADD,184,80,80,77,FF
2021-08-14T18:27:16.166Z,1628965636.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:16.169Z,1628965636.169 [Micromodem](INFO): Nmea in: $SNTTA,0.296358,0.296602,,,182717.26*5A

2021-08-14T18:27:16.634Z,1628965636.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.360001 m, bearing: 335.927309 deg, deltaT: 4.504615 s, approachRate: 0.639344 m/s, LOS rate: -1.846271 deg/s, posRepo size: 4
2021-08-14T18:27:19.006Z,1628965639.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:19.381Z,1628965639.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:19.381Z,1628965639.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:19.382Z,1628965639.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:19.383Z,1628965639.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:19.789Z,1628965639.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00ADD,184,80,80,77,FF
2021-08-14T18:27:19.789Z,1628965639.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:19.789Z,1628965639.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:19.791Z,1628965639.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:20.189Z,1628965640.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:20.625Z,1628965640.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00B0C,185,80,80,7F,FF
2021-08-14T18:27:20.625Z,1628965640.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:21.033Z,1628965641.033 [Micromodem](INFO): Nmea in: $SNTTA,0.102587,,,,182721.71*40

2021-08-14T18:27:21.055Z,1628965641.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.179993 m, bearing: 337.325940 deg, deltaT: 4.456732 s, approachRate: 0.632749 m/s, LOS rate: 0.313824 deg/s, posRepo size: 4
2021-08-14T18:27:23.446Z,1628965643.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:23.825Z,1628965643.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:23.825Z,1628965643.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:23.826Z,1628965643.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:23.827Z,1628965643.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:24.229Z,1628965644.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00B0C,185,80,80,7F,FF
2021-08-14T18:27:24.230Z,1628965644.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:24.230Z,1628965644.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:24.231Z,1628965644.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:24.662Z,1628965644.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:25.046Z,1628965645.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00B3B,186,80,80,7B,FF
2021-08-14T18:27:25.046Z,1628965645.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:25.477Z,1628965645.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182726.15*52

2021-08-14T18:27:25.499Z,1628965645.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 332.520902 deg, deltaT: 4.360797 s, approachRate: 0.646672 m/s, LOS rate: -1.101872 deg/s, posRepo size: 4
2021-08-14T18:27:27.929Z,1628965647.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:28.277Z,1628965648.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:28.277Z,1628965648.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:28.277Z,1628965648.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:28.278Z,1628965648.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:28.673Z,1628965648.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00B3B,186,80,80,7B,FF
2021-08-14T18:27:28.673Z,1628965648.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:28.674Z,1628965648.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:28.677Z,1628965648.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:29.088Z,1628965649.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:29.486Z,1628965649.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00B6A,186,80,80,78,FF
2021-08-14T18:27:29.487Z,1628965649.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:29.922Z,1628965649.922 [Micromodem](INFO): Nmea in: $SNTTA,0.105313,,,,182730.59*46

2021-08-14T18:27:29.948Z,1628965649.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.820007 m, bearing: 330.456819 deg, deltaT: 4.547237 s, approachRate: 0.620158 m/s, LOS rate: -0.453920 deg/s, posRepo size: 4
2021-08-14T18:27:32.353Z,1628965652.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:32.709Z,1628965652.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:32.709Z,1628965652.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:32.709Z,1628965652.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:32.710Z,1628965652.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:33.119Z,1628965653.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00B6A,186,80,80,78,FF
2021-08-14T18:27:33.119Z,1628965653.119 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:33.119Z,1628965653.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:33.121Z,1628965653.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:33.541Z,1628965653.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:33.925Z,1628965653.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00B98,186,80,80,6B,FF
2021-08-14T18:27:33.925Z,1628965653.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:34.370Z,1628965654.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182735.03*57

2021-08-14T18:27:34.443Z,1628965654.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.580002 m, bearing: 323.042567 deg, deltaT: 4.374855 s, approachRate: 0.630877 m/s, LOS rate: -1.694742 deg/s, posRepo size: 4
2021-08-14T18:27:36.793Z,1628965656.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:37.156Z,1628965657.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:37.156Z,1628965657.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:37.158Z,1628965657.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:37.168Z,1628965657.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:37.569Z,1628965657.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00B98,186,80,80,6B,FF
2021-08-14T18:27:37.569Z,1628965657.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:37.570Z,1628965657.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:37.588Z,1628965657.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:37.965Z,1628965657.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:38.373Z,1628965658.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00BCB,186,80,80,6B,FF
2021-08-14T18:27:38.374Z,1628965658.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:38.794Z,1628965658.794 [Micromodem](INFO): Nmea in: $SNTTA,0.095312,,,,182739.50*4F

2021-08-14T18:27:38.832Z,1628965658.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.639999 m, bearing: 314.023630 deg, deltaT: 4.456274 s, approachRate: 0.686672 m/s, LOS rate: -2.023874 deg/s, posRepo size: 4
2021-08-14T18:27:41.227Z,1628965661.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:41.637Z,1628965661.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:41.637Z,1628965661.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:41.637Z,1628965661.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:41.638Z,1628965661.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:42.001Z,1628965662.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00BCB,186,80,80,6B,FF
2021-08-14T18:27:42.001Z,1628965662.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:42.001Z,1628965662.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:42.003Z,1628965662.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:42.421Z,1628965662.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:42.821Z,1628965662.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00BFB,186,80,80,71,FF
2021-08-14T18:27:42.821Z,1628965662.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:27:43.249Z,1628965663.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182743.92*5E

2021-08-14T18:27:43.287Z,1628965663.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 318.966774 deg, deltaT: 4.439853 s, approachRate: 0.648671 m/s, LOS rate: 1.113358 deg/s, posRepo size: 4
2021-08-14T18:27:45.691Z,1628965665.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:46.052Z,1628965666.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:46.053Z,1628965666.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:46.053Z,1628965666.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:46.055Z,1628965666.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:46.453Z,1628965666.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00BFB,186,80,80,71,FF
2021-08-14T18:27:46.453Z,1628965666.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:46.453Z,1628965666.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:46.458Z,1628965666.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:46.870Z,1628965666.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:47.703Z,1628965667.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182748.37*5A

2021-08-14T18:27:48.491Z,1628965668.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:50.141Z,1628965670.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,71,FF
2021-08-14T18:27:50.141Z,1628965670.141 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,71,FF
2021-08-14T18:27:50.142Z,1628965670.142 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:27:51.327Z,1628965671.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:51.713Z,1628965671.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:27:51.713Z,1628965671.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:27:51.713Z,1628965671.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:27:51.714Z,1628965671.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:27:52.129Z,1628965672.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,71,FF
2021-08-14T18:27:52.129Z,1628965672.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:27:52.130Z,1628965672.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:27:52.131Z,1628965672.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:27:52.523Z,1628965672.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:27:52.918Z,1628965672.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,0E4
B,186,80,80,71,FF
2021-08-14T18:27:52.918Z,1628965672.918 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,08C,000,0E4
B,186,80,80,71,FF
2021-08-14T18:27:53.335Z,1628965673.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182754.05*56

2021-08-14T18:27:54.185Z,1628965674.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:56.990Z,1628965676.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:27:57.776Z,1628965677.776 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061890
2021-08-14T18:27:59.829Z,1628965679.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:00.189Z,1628965680.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:00.189Z,1628965680.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:00.189Z,1628965680.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:00.190Z,1628965680.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:00.610Z,1628965680.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,0E4
B,186,80,80,71,FF
2021-08-14T18:28:00.611Z,1628965680.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:00.611Z,1628965680.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:00.613Z,1628965680.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:01.004Z,1628965681.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:01.406Z,1628965681.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,00CCB,186,80,80,71,FF
2021-08-14T18:28:01.406Z,1628965681.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:01.837Z,1628965681.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182802.52*58

2021-08-14T18:28:01.882Z,1628965681.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.000000 m, bearing: 321.043179 deg, deltaT: 18.548772 s, approachRate: 0.672821 m/s, LOS rate: 0.111943 deg/s, posRepo size: 4
2021-08-14T18:28:04.281Z,1628965684.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:04.637Z,1628965684.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:04.637Z,1628965684.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:04.637Z,1628965684.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:04.638Z,1628965684.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:05.105Z,1628965685.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,00CCB,186,80,80,71,FF
2021-08-14T18:28:05.105Z,1628965685.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:05.106Z,1628965685.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:05.107Z,1628965685.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:05.484Z,1628965685.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:05.894Z,1628965685.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,00CCB,186,80,80,71,FF
2021-08-14T18:28:05.895Z,1628965685.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:06.313Z,1628965686.313 [Micromodem](INFO): Nmea in: $SNTTA,0.144221,,,,182807.02*46

2021-08-14T18:28:06.375Z,1628965686.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.000000 m, bearing: 316.596562 deg, deltaT: 4.522188 s, approachRate: 0.000000 m/s, LOS rate: -0.983289 deg/s, posRepo size: 4
2021-08-14T18:28:08.742Z,1628965688.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:09.121Z,1628965689.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:09.121Z,1628965689.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:09.122Z,1628965689.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:09.122Z,1628965689.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:09.518Z,1628965689.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,00CCB,186,80,80,71,FF
2021-08-14T18:28:09.518Z,1628965689.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:09.518Z,1628965689.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:09.521Z,1628965689.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:09.931Z,1628965689.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:10.335Z,1628965690.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00D22,188,80,80,71,FF
2021-08-14T18:28:10.335Z,1628965690.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:10.781Z,1628965690.781 [Micromodem](INFO): Nmea in: $SNTTA,0.155013,,,,182811.43*47

2021-08-14T18:28:10.835Z,1628965690.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.220001 m, bearing: 309.617365 deg, deltaT: 4.452910 s, approachRate: 1.172267 m/s, LOS rate: -1.567334 deg/s, posRepo size: 4
2021-08-14T18:28:13.203Z,1628965693.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:13.569Z,1628965693.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:13.569Z,1628965693.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:13.570Z,1628965693.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:13.571Z,1628965693.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:13.961Z,1628965693.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00D22,188,80,80,71,FF
2021-08-14T18:28:13.961Z,1628965693.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:13.961Z,1628965693.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:13.963Z,1628965693.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:14.368Z,1628965694.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:14.774Z,1628965694.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00D53,188,80,80,71,FF
2021-08-14T18:28:14.774Z,1628965694.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:15.213Z,1628965695.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182815.88*59

2021-08-14T18:28:15.249Z,1628965695.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 310.858138 deg, deltaT: 4.441088 s, approachRate: 0.661997 m/s, LOS rate: 0.279385 deg/s, posRepo size: 4
2021-08-14T18:28:17.661Z,1628965697.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:18.001Z,1628965698.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:18.001Z,1628965698.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:18.001Z,1628965698.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:18.002Z,1628965698.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:18.422Z,1628965698.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00D53,188,80,80,71,FF
2021-08-14T18:28:18.422Z,1628965698.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:18.422Z,1628965698.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:18.424Z,1628965698.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:18.812Z,1628965698.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:19.222Z,1628965699.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00D53,188,80,80,71,FF
2021-08-14T18:28:19.223Z,1628965699.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:19.673Z,1628965699.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182820.34*58

2021-08-14T18:28:19.699Z,1628965699.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 310.659243 deg, deltaT: 4.428084 s, approachRate: 0.000000 m/s, LOS rate: -0.044917 deg/s, posRepo size: 4
2021-08-14T18:28:22.122Z,1628965702.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:22.469Z,1628965702.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:22.469Z,1628965702.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:22.469Z,1628965702.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:22.470Z,1628965702.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:22.865Z,1628965702.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00D53,188,80,80,71,FF
2021-08-14T18:28:22.865Z,1628965702.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:22.865Z,1628965702.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:22.867Z,1628965702.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:23.286Z,1628965703.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:24.116Z,1628965704.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,00DC1,189,80,80,9F,FF
2021-08-14T18:28:24.117Z,1628965704.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:24.119Z,1628965704.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182824.78*54

2021-08-14T18:28:24.508Z,1628965704.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.759995 m, bearing: 304.342957 deg, deltaT: 4.880498 s, approachRate: 1.352322 m/s, LOS rate: -1.294189 deg/s, posRepo size: 4
2021-08-14T18:28:26.941Z,1628965706.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:27.298Z,1628965707.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:27.299Z,1628965707.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:27.299Z,1628965707.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:27.300Z,1628965707.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:27.697Z,1628965707.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,00DC1,189,80,80,9F,FF
2021-08-14T18:28:27.697Z,1628965707.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:27.697Z,1628965707.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:27.699Z,1628965707.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:28.139Z,1628965708.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:28.911Z,1628965708.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00DE7,189,80,80,9D,FF
2021-08-14T18:28:28.912Z,1628965708.912 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:28.919Z,1628965708.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182829.66*56

2021-08-14T18:28:29.353Z,1628965709.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.040009 m, bearing: 302.246444 deg, deltaT: 4.849181 s, approachRate: 0.470185 m/s, LOS rate: -0.432344 deg/s, posRepo size: 4
2021-08-14T18:28:31.774Z,1628965711.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:32.155Z,1628965712.155 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:32.155Z,1628965712.155 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:32.155Z,1628965712.155 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:32.173Z,1628965712.173 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:32.554Z,1628965712.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,00DE7,189,80,80,9D,FF
2021-08-14T18:28:32.554Z,1628965712.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:32.554Z,1628965712.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:32.558Z,1628965712.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:32.953Z,1628965712.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:33.773Z,1628965713.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00E1C,189,80,80,A6,FF
2021-08-14T18:28:33.773Z,1628965713.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:33.777Z,1628965713.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182834.47*59

2021-08-14T18:28:34.216Z,1628965714.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.220016 m, bearing: 303.016889 deg, deltaT: 4.843809 s, approachRate: 0.656510 m/s, LOS rate: 0.159058 deg/s, posRepo size: 4
2021-08-14T18:28:36.638Z,1628965716.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:36.993Z,1628965716.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:36.993Z,1628965716.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:36.994Z,1628965716.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:36.995Z,1628965716.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:37.401Z,1628965717.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00E1C,189,80,80,A6,FF
2021-08-14T18:28:37.401Z,1628965717.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:37.401Z,1628965717.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:37.403Z,1628965717.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:37.813Z,1628965717.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:38.637Z,1628965718.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00E52,186,80,80,A3,FF
2021-08-14T18:28:38.637Z,1628965718.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:38.640Z,1628965718.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182839.32*56

2021-08-14T18:28:39.061Z,1628965719.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.460007 m, bearing: 350.897116 deg, deltaT: 4.874119 s, approachRate: 0.664734 m/s, LOS rate: 9.823360 deg/s, posRepo size: 4
2021-08-14T18:28:41.455Z,1628965721.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:41.849Z,1628965721.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:41.849Z,1628965721.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:41.849Z,1628965721.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:41.850Z,1628965721.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:42.281Z,1628965722.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00E52,186,80,80,A3,FF
2021-08-14T18:28:42.281Z,1628965722.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:42.281Z,1628965722.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:42.283Z,1628965722.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:42.653Z,1628965722.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:43.459Z,1628965723.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00E87,186,80,80,9F,FF
2021-08-14T18:28:43.460Z,1628965723.460 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:43.467Z,1628965723.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182844.20*5F

2021-08-14T18:28:43.887Z,1628965723.887 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:28:43.900Z,1628965723.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.640015 m, bearing: 349.289700 deg, deltaT: 4.826308 s, approachRate: 0.658890 m/s, LOS rate: -0.333053 deg/s, posRepo size: 4
2021-08-14T18:28:46.327Z,1628965726.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:46.685Z,1628965726.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:46.685Z,1628965726.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:46.685Z,1628965726.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:46.686Z,1628965726.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:47.089Z,1628965727.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00E87,186,80,80,9F,FF
2021-08-14T18:28:47.089Z,1628965727.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:47.089Z,1628965727.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:47.091Z,1628965727.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:47.517Z,1628965727.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:48.301Z,1628965728.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00EB9,186,80,80,9A,FF
2021-08-14T18:28:48.301Z,1628965728.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:48.305Z,1628965728.305 [Micromodem](INFO): Nmea in: $SNTTA,0.424456,0.424462,,,182849.01*56

2021-08-14T18:28:48.744Z,1628965728.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.639984 m, bearing: 347.239468 deg, deltaT: 4.829805 s, approachRate: 0.621137 m/s, LOS rate: -0.424496 deg/s, posRepo size: 4
2021-08-14T18:28:51.157Z,1628965731.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:51.533Z,1628965731.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:51.534Z,1628965731.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:51.534Z,1628965731.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:51.535Z,1628965731.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:51.945Z,1628965731.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00EB9,186,80,80,9A,FF
2021-08-14T18:28:51.945Z,1628965731.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:51.945Z,1628965731.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:51.947Z,1628965731.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:52.345Z,1628965732.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:53.173Z,1628965733.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00EEE,185,80,80,A1,FF
2021-08-14T18:28:53.173Z,1628965733.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:53.181Z,1628965733.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182853.86*55

2021-08-14T18:28:53.641Z,1628965733.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.819992 m, bearing: 346.475662 deg, deltaT: 4.847087 s, approachRate: 0.656066 m/s, LOS rate: -0.157580 deg/s, posRepo size: 4
2021-08-14T18:28:56.097Z,1628965736.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:28:56.394Z,1628965736.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:28:56.394Z,1628965736.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:28:56.394Z,1628965736.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:28:56.395Z,1628965736.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:28:56.785Z,1628965736.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00EEE,185,80,80,A1,FF
2021-08-14T18:28:56.785Z,1628965736.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:28:56.785Z,1628965736.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:28:56.787Z,1628965736.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:28:57.197Z,1628965737.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:28:57.618Z,1628965737.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00EEE,185,80,80,A1,FF
2021-08-14T18:28:57.618Z,1628965737.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:28:58.040Z,1628965738.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182858.70*57

2021-08-14T18:28:58.114Z,1628965738.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.819992 m, bearing: 347.546471 deg, deltaT: 4.451230 s, approachRate: 0.000000 m/s, LOS rate: 0.240565 deg/s, posRepo size: 4
2021-08-14T18:29:00.492Z,1628965740.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:00.821Z,1628965740.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:00.821Z,1628965740.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:00.821Z,1628965740.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:00.822Z,1628965740.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:01.225Z,1628965741.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00EEE,185,80,80,A1,FF
2021-08-14T18:29:01.226Z,1628965741.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:01.226Z,1628965741.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:01.228Z,1628965741.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:01.649Z,1628965741.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:02.473Z,1628965742.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,00F52,186,80,80,9A,FF
2021-08-14T18:29:02.473Z,1628965742.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:02.476Z,1628965742.476 [Micromodem](INFO): Nmea in: $SNTTA,0.355515,,,,182903.14*46

2021-08-14T18:29:02.891Z,1628965742.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.820007 m, bearing: 347.962375 deg, deltaT: 4.938356 s, approachRate: 1.214982 m/s, LOS rate: 0.084219 deg/s, posRepo size: 4
2021-08-14T18:29:05.291Z,1628965745.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:05.673Z,1628965745.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:05.673Z,1628965745.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:05.673Z,1628965745.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:05.674Z,1628965745.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:06.121Z,1628965746.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,00F52,186,80,80,9A,FF
2021-08-14T18:29:06.121Z,1628965746.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:06.121Z,1628965746.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:06.123Z,1628965746.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:06.493Z,1628965746.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:07.299Z,1628965747.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00F88,186,80,80,99,FF
2021-08-14T18:29:07.301Z,1628965747.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:07.307Z,1628965747.307 [Micromodem](INFO): Nmea in: $SNTTA,0.136424,,,,182908.04*48

2021-08-14T18:29:07.742Z,1628965747.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.059998 m, bearing: 347.357439 deg, deltaT: 4.748389 s, approachRate: 0.682335 m/s, LOS rate: -0.127398 deg/s, posRepo size: 4
2021-08-14T18:29:10.175Z,1628965750.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:10.517Z,1628965750.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:10.518Z,1628965750.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:10.518Z,1628965750.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:10.519Z,1628965750.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:10.925Z,1628965750.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00F88,186,80,80,99,FF
2021-08-14T18:29:10.926Z,1628965750.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:10.926Z,1628965750.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:10.927Z,1628965750.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:11.329Z,1628965751.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:12.157Z,1628965752.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00FBC,187,80,80,8A,FF
2021-08-14T18:29:12.157Z,1628965752.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:12.160Z,1628965752.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182912.84*53

2021-08-14T18:29:12.616Z,1628965752.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.179993 m, bearing: 347.041256 deg, deltaT: 4.896119 s, approachRate: 0.637238 m/s, LOS rate: -0.064578 deg/s, posRepo size: 4
2021-08-14T18:29:14.979Z,1628965754.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:15.373Z,1628965755.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:15.373Z,1628965755.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:15.373Z,1628965755.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:15.374Z,1628965755.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:15.769Z,1628965755.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00FBC,187,80,80,8A,FF
2021-08-14T18:29:15.769Z,1628965755.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:15.769Z,1628965755.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:15.771Z,1628965755.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:16.199Z,1628965756.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:17.009Z,1628965757.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00FF2,186,80,80,80,FF
2021-08-14T18:29:17.009Z,1628965757.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:17.012Z,1628965757.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182917.69*55

2021-08-14T18:29:17.419Z,1628965757.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.419983 m, bearing: 350.970391 deg, deltaT: 4.805191 s, approachRate: 0.674269 m/s, LOS rate: 0.817685 deg/s, posRepo size: 4
2021-08-14T18:29:19.857Z,1628965759.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:20.226Z,1628965760.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:20.226Z,1628965760.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:20.227Z,1628965760.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:20.228Z,1628965760.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:20.637Z,1628965760.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00FF2,186,80,80,80,FF
2021-08-14T18:29:20.637Z,1628965760.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:20.637Z,1628965760.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:20.639Z,1628965760.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:21.038Z,1628965761.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:21.850Z,1628965761.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,01028,188,80,80,73,FF
2021-08-14T18:29:21.851Z,1628965761.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:21.855Z,1628965761.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182922.55*5C

2021-08-14T18:29:22.321Z,1628965762.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.659973 m, bearing: 302.517739 deg, deltaT: 4.865118 s, approachRate: 0.665963 m/s, LOS rate: -9.959194 deg/s, posRepo size: 4
2021-08-14T18:29:24.694Z,1628965764.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:25.066Z,1628965765.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:25.066Z,1628965765.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:25.067Z,1628965765.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:25.067Z,1628965765.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:25.465Z,1628965765.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,01028,188,80,80,73,FF
2021-08-14T18:29:25.465Z,1628965765.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:25.466Z,1628965765.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:25.467Z,1628965765.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:25.895Z,1628965765.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:26.283Z,1628965766.283 [Micromodem](INFO): Nmea in: $SNTTA,0.235533,0.235476,,,182927.38*52

2021-08-14T18:29:26.677Z,1628965766.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,0105D,186,80,80,74,FF
2021-08-14T18:29:26.677Z,1628965766.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:27.120Z,1628965767.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.839981 m, bearing: 351.673081 deg, deltaT: 4.840683 s, approachRate: 0.656934 m/s, LOS rate: 10.154629 deg/s, posRepo size: 4
2021-08-14T18:29:29.583Z,1628965769.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:29.913Z,1628965769.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:29.913Z,1628965769.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:29.913Z,1628965769.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:29.914Z,1628965769.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:30.313Z,1628965770.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,0105D,186,80,80,74,FF
2021-08-14T18:29:30.313Z,1628965770.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:30.313Z,1628965770.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:30.315Z,1628965770.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:30.721Z,1628965770.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:31.549Z,1628965771.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,01093,185,80,80,6F,FF
2021-08-14T18:29:31.549Z,1628965771.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:31.553Z,1628965771.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182932.24*5B

2021-08-14T18:29:31.980Z,1628965771.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.079987 m, bearing: 351.694117 deg, deltaT: 4.862797 s, approachRate: 0.666284 m/s, LOS rate: 0.004326 deg/s, posRepo size: 4
2021-08-14T18:29:34.408Z,1628965774.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:34.757Z,1628965774.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:34.757Z,1628965774.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:34.757Z,1628965774.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:34.758Z,1628965774.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:35.169Z,1628965775.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,01093,185,80,80,6F,FF
2021-08-14T18:29:35.169Z,1628965775.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:35.170Z,1628965775.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:35.171Z,1628965775.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:35.610Z,1628965775.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:36.394Z,1628965776.394 [Micromodem](INFO): Nmea in: $SNTTA,,0.385092,,,182937.09*4A

2021-08-14T18:29:37.203Z,1628965777.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:38.805Z,1628965778.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,6F,FF
2021-08-14T18:29:38.805Z,1628965778.805 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,6F,FF
2021-08-14T18:29:38.805Z,1628965778.805 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:29:40.101Z,1628965780.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:40.421Z,1628965780.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:40.421Z,1628965780.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:40.421Z,1628965780.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:40.422Z,1628965780.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:40.826Z,1628965780.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,6F,FF
2021-08-14T18:29:40.826Z,1628965780.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:40.826Z,1628965780.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:40.827Z,1628965780.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:41.224Z,1628965781.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:42.061Z,1628965782.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,01112,183,80,80,3D,FF
2021-08-14T18:29:42.062Z,1628965782.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:42.093Z,1628965782.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182942.74*59

2021-08-14T18:29:42.472Z,1628965782.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.699982 m, bearing: 336.134182 deg, deltaT: 10.562365 s, approachRate: 0.721429 m/s, LOS rate: -1.473149 deg/s, posRepo size: 4
2021-08-14T18:29:44.914Z,1628965784.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:45.261Z,1628965785.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:45.261Z,1628965785.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:45.262Z,1628965785.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:45.263Z,1628965785.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:45.669Z,1628965785.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,01112,183,80,80,3D,FF
2021-08-14T18:29:45.669Z,1628965785.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:45.669Z,1628965785.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:45.671Z,1628965785.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:46.108Z,1628965786.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:46.905Z,1628965786.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,01149,183,80,80,53,FF
2021-08-14T18:29:46.905Z,1628965786.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:46.909Z,1628965786.909 [Micromodem](INFO): Nmea in: $SNTTA,0.155290,,,,182947.58*46

2021-08-14T18:29:47.340Z,1628965787.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.000000 m, bearing: 335.201123 deg, deltaT: 4.781983 s, approachRate: 0.690094 m/s, LOS rate: -0.195120 deg/s, posRepo size: 4
2021-08-14T18:29:49.743Z,1628965789.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:50.153Z,1628965790.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:50.153Z,1628965790.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:50.153Z,1628965790.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:50.154Z,1628965790.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:50.514Z,1628965790.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,01149,183,80,80,53,FF
2021-08-14T18:29:50.514Z,1628965790.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:50.514Z,1628965790.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:50.517Z,1628965790.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:50.936Z,1628965790.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:51.757Z,1628965791.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,0117F,184,80,80,30,FF
2021-08-14T18:29:51.757Z,1628965791.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:51.761Z,1628965791.761 [Micromodem](INFO): Nmea in: $SNTTA,0.156220,,,,182952.43*40

2021-08-14T18:29:52.211Z,1628965792.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.239990 m, bearing: 334.605776 deg, deltaT: 4.850173 s, approachRate: 0.668015 m/s, LOS rate: -0.122748 deg/s, posRepo size: 4
2021-08-14T18:29:54.631Z,1628965794.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:54.961Z,1628965794.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:29:54.961Z,1628965794.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:29:54.961Z,1628965794.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:29:54.962Z,1628965794.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:29:55.378Z,1628965795.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,0117F,184,80,80,30,FF
2021-08-14T18:29:55.378Z,1628965795.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:29:55.378Z,1628965795.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:29:55.380Z,1628965795.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:29:55.793Z,1628965795.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:29:56.211Z,1628965796.211 [Micromodem](INFO): Nmea in: $SNTTA,0.277339,0.277658,,,182957.30*5F

2021-08-14T18:29:57.407Z,1628965797.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:29:58.637Z,1628965798.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,07FE0,184,80,80,34,FF
2021-08-14T18:29:58.637Z,1628965798.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:29:59.044Z,1628965799.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1926.660034 m, bearing: 339.481439 deg, deltaT: 6.873441 s, approachRate: 246.662491 m/s, LOS rate: 0.709348 deg/s, posRepo size: 4
2021-08-14T18:30:01.458Z,1628965801.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:01.833Z,1628965801.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:01.833Z,1628965801.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:01.833Z,1628965801.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:01.834Z,1628965801.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:02.237Z,1628965802.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,07FE0,184,80,80,34,FF
2021-08-14T18:30:02.237Z,1628965802.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:02.237Z,1628965802.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:02.239Z,1628965802.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:02.741Z,1628965802.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:03.134Z,1628965803.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,07FE0,184,80,80,34,FF
2021-08-14T18:30:03.134Z,1628965803.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:03.553Z,1628965803.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183004.16*57

2021-08-14T18:30:03.621Z,1628965803.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1926.660034 m, bearing: 323.585539 deg, deltaT: 4.497699 s, approachRate: 0.000000 m/s, LOS rate: -3.534229 deg/s, posRepo size: 4
2021-08-14T18:30:05.992Z,1628965805.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:06.353Z,1628965806.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:06.354Z,1628965806.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:06.354Z,1628965806.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:06.355Z,1628965806.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:06.765Z,1628965806.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,07FE0,184,80,80,34,FF
2021-08-14T18:30:06.765Z,1628965806.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:06.765Z,1628965806.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:06.767Z,1628965806.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:07.169Z,1628965807.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:07.989Z,1628965807.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E07,000,0122A,187,80,80,78,FF
2021-08-14T18:30:07.989Z,1628965807.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:07.992Z,1628965807.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183008.68*52

2021-08-14T18:30:08.428Z,1628965808.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.500000 m, bearing: 1.497944 deg, deltaT: 4.813644 s, approachRate: -350.079895 m/s, LOS rate: 7.876029 deg/s, posRepo size: 4
2021-08-14T18:30:10.837Z,1628965810.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:11.220Z,1628965811.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:11.220Z,1628965811.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:11.220Z,1628965811.220 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:11.221Z,1628965811.221 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:11.641Z,1628965811.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E07,000,0122A,187,80,80,78,FF
2021-08-14T18:30:11.641Z,1628965811.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:11.641Z,1628965811.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:11.643Z,1628965811.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:12.017Z,1628965812.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:12.823Z,1628965812.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,0125E,186,80,80,91,FF
2021-08-14T18:30:12.824Z,1628965812.824 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:12.831Z,1628965812.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183013.56*55

2021-08-14T18:30:13.278Z,1628965813.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.619995 m, bearing: 357.548682 deg, deltaT: 4.899664 s, approachRate: 0.636777 m/s, LOS rate: -0.806027 deg/s, posRepo size: 4
2021-08-14T18:30:15.688Z,1628965815.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:16.088Z,1628965816.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:16.089Z,1628965816.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:16.090Z,1628965816.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:16.091Z,1628965816.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:16.461Z,1628965816.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,0125E,186,80,80,91,FF
2021-08-14T18:30:16.461Z,1628965816.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:16.461Z,1628965816.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:16.463Z,1628965816.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:16.861Z,1628965816.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:17.697Z,1628965817.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,01293,185,80,80,96,FF
2021-08-14T18:30:17.697Z,1628965817.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:17.721Z,1628965817.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183018.38*56

2021-08-14T18:30:18.162Z,1628965818.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.799988 m, bearing: 355.370699 deg, deltaT: 4.857120 s, approachRate: 0.654707 m/s, LOS rate: -0.448410 deg/s, posRepo size: 4
2021-08-14T18:30:18.162Z,1628965818.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 247.80 m. Resuming terminal guidance.
2021-08-14T18:30:18.163Z,1628965818.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T18:30:20.549Z,1628965820.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:20.901Z,1628965820.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:20.901Z,1628965820.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:20.901Z,1628965820.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:20.902Z,1628965820.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:21.321Z,1628965821.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,01293,185,80,80,96,FF
2021-08-14T18:30:21.321Z,1628965821.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:21.322Z,1628965821.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:21.323Z,1628965821.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:21.721Z,1628965821.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:22.545Z,1628965822.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,012CB,186,80,80,8D,FF
2021-08-14T18:30:22.546Z,1628965822.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:22.549Z,1628965822.549 [Micromodem](INFO): Nmea in: $SNTTA,0.268316,,,,183023.24*45

2021-08-14T18:30:22.982Z,1628965822.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.159988 m, bearing: 353.387950 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T18:30:22.983Z,1628965822.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 353.387950deg and heading rate command to 0 deg/s.
2021-08-14T18:30:25.378Z,1628965825.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:25.753Z,1628965825.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:25.753Z,1628965825.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:25.753Z,1628965825.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:25.754Z,1628965825.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:26.165Z,1628965826.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,012CB,186,80,80,8D,FF
2021-08-14T18:30:26.165Z,1628965826.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:26.165Z,1628965826.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:26.167Z,1628965826.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:26.603Z,1628965826.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:27.405Z,1628965827.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,012FF,189,80,80,8E,FF
2021-08-14T18:30:27.405Z,1628965827.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:27.408Z,1628965827.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183028.08*56

2021-08-14T18:30:27.830Z,1628965827.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.279984 m, bearing: 304.430902 deg, deltaT: 4.863906 s, approachRate: 0.641459 m/s, LOS rate: -10.065377 deg/s, posRepo size: 2
2021-08-14T18:30:27.832Z,1628965827.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.279984 m,
      bearing: 304.430902 deg,
      approachRate: 0.641459 m/s,
      LOS rate: -10.065377 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.387950 deg,
      new cmd heading: 353.387950 deg.

2021-08-14T18:30:30.282Z,1628965830.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:30.637Z,1628965830.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:30.637Z,1628965830.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:30.637Z,1628965830.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:30.638Z,1628965830.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:31.010Z,1628965831.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,012FF,189,80,80,8E,FF
2021-08-14T18:30:31.010Z,1628965831.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:31.011Z,1628965831.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:31.013Z,1628965831.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:31.417Z,1628965831.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:32.245Z,1628965832.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,01330,186,80,80,50,FF
2021-08-14T18:30:32.245Z,1628965832.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:32.248Z,1628965832.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183032.93*5F

2021-08-14T18:30:32.690Z,1628965832.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.220001 m, bearing: 1.257397 deg, deltaT: 4.892733 s, approachRate: 0.600895 m/s, LOS rate: 11.614466 deg/s, posRepo size: 3
2021-08-14T18:30:32.690Z,1628965832.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.614466 deg/s. Setting heading cmd to target bearing of 1.257397deg and heading rate command to 0 deg/s.
2021-08-14T18:30:35.118Z,1628965835.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:35.449Z,1628965835.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:35.449Z,1628965835.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:35.450Z,1628965835.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:35.451Z,1628965835.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:35.858Z,1628965835.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,01330,186,80,80,50,FF
2021-08-14T18:30:35.859Z,1628965835.859 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:35.859Z,1628965835.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:35.862Z,1628965835.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:36.270Z,1628965836.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:37.065Z,1628965837.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,01360,186,80,80,B1,FF
2021-08-14T18:30:37.065Z,1628965837.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:37.543Z,1628965837.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.100006 m, bearing: 348.882976 deg, deltaT: 4.718479 s, approachRate: 0.610367 m/s, LOS rate: -2.622542 deg/s, posRepo size: 4
2021-08-14T18:30:37.552Z,1628965837.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.100006 m,
      bearing: 348.882976 deg,
      approachRate: 0.610367 m/s,
      LOS rate: -2.622542 deg/s,
      cmd update: -10.490167 deg/s,
      cmd heading: 1.257397 deg,
      new cmd heading: 1.257397 deg.

2021-08-14T18:30:39.960Z,1628965839.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:40.297Z,1628965840.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:40.297Z,1628965840.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:40.297Z,1628965840.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:40.298Z,1628965840.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:40.705Z,1628965840.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,01360,186,80,80,B1,FF
2021-08-14T18:30:40.706Z,1628965840.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:40.706Z,1628965840.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:40.708Z,1628965840.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:41.126Z,1628965841.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:41.933Z,1628965841.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,01390,187,80,80,82,FF
2021-08-14T18:30:41.933Z,1628965841.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:41.936Z,1628965841.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183042.62*56

2021-08-14T18:30:42.427Z,1628965842.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.980011 m, bearing: 339.947941 deg, deltaT: 4.908540 s, approachRate: 0.586734 m/s, LOS rate: -1.820304 deg/s, posRepo size: 4
2021-08-14T18:30:42.431Z,1628965842.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.980011 m,
      bearing: 339.947941 deg,
      approachRate: 0.586734 m/s,
      LOS rate: -1.820304 deg/s,
      cmd update: -7.281216 deg/s,
      cmd heading: 309.850997 deg,
      new cmd heading: 305.193195 deg.

2021-08-14T18:30:44.364Z,1628965844.364 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T18:30:44.773Z,1628965844.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:45.145Z,1628965845.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:45.145Z,1628965845.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:45.145Z,1628965845.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:45.146Z,1628965845.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:45.560Z,1628965845.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,01390,187,80,80,82,FF
2021-08-14T18:30:45.561Z,1628965845.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:45.561Z,1628965845.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:45.567Z,1628965845.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:45.957Z,1628965845.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:46.781Z,1628965846.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,013C5,185,80,80,9D,FF
2021-08-14T18:30:46.781Z,1628965846.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:46.784Z,1628965846.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183047.48*5B

2021-08-14T18:30:47.203Z,1628965847.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.159973 m, bearing: 345.546182 deg, deltaT: 4.848347 s, approachRate: 0.655886 m/s, LOS rate: 1.154670 deg/s, posRepo size: 4
2021-08-14T18:30:47.206Z,1628965847.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.159973 m,
      bearing: 345.546182 deg,
      approachRate: 0.655886 m/s,
      LOS rate: 1.154670 deg/s,
      cmd update: 4.618681 deg/s,
      cmd heading: 274.520398 deg,
      new cmd heading: 271.836709 deg.

2021-08-14T18:30:49.638Z,1628965849.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:50.001Z,1628965850.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:50.002Z,1628965850.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:50.002Z,1628965850.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:50.003Z,1628965850.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:50.401Z,1628965850.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,013C5,185,80,80,9D,FF
2021-08-14T18:30:50.401Z,1628965850.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:50.401Z,1628965850.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:50.403Z,1628965850.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:50.817Z,1628965850.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:51.648Z,1628965851.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,013F8,18A,80,80,7D,FF
2021-08-14T18:30:51.649Z,1628965851.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:30:51.651Z,1628965851.651 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183052.32*52

2021-08-14T18:30:52.097Z,1628965852.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.220001 m, bearing: 281.172250 deg, deltaT: 4.838807 s, approachRate: 0.632393 m/s, LOS rate: -13.303679 deg/s, posRepo size: 4
2021-08-14T18:30:52.097Z,1628965852.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.303679 deg/s. Setting heading cmd to target bearing of 281.172250deg and heading rate command to 0 deg/s.
2021-08-14T18:30:54.489Z,1628965854.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:54.849Z,1628965854.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:30:54.849Z,1628965854.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:30:54.849Z,1628965854.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:30:54.850Z,1628965854.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:30:55.245Z,1628965855.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,013F8,18A,80,80,7D,FF
2021-08-14T18:30:55.245Z,1628965855.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:30:55.245Z,1628965855.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:30:55.247Z,1628965855.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:30:55.729Z,1628965855.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:30:56.531Z,1628965856.531 [Micromodem](INFO): Nmea in: $SNTTA,0.184039,,,,183057.17*49

2021-08-14T18:30:57.378Z,1628965857.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:30:58.578Z,1628965858.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,18A,80,80,7D,FF
2021-08-14T18:30:58.579Z,1628965858.579 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,18A,80,80,7D,FF
2021-08-14T18:30:58.579Z,1628965858.579 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:31:00.349Z,1628965860.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:00.601Z,1628965860.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:00.601Z,1628965860.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:00.601Z,1628965860.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:00.602Z,1628965860.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:00.981Z,1628965860.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,18A,80,80,7D,FF
2021-08-14T18:31:00.981Z,1628965860.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:00.981Z,1628965860.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:00.983Z,1628965860.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:01.376Z,1628965861.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:02.207Z,1628965862.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,344,000,01464,189,80,80,99,FF
2021-08-14T18:31:02.207Z,1628965862.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:02.210Z,1628965862.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183102.90*5E

2021-08-14T18:31:02.656Z,1628965862.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.699982 m, bearing: 241.593217 deg, deltaT: 10.613301 s, approachRate: 0.610553 m/s, LOS rate: -3.729192 deg/s, posRepo size: 4
2021-08-14T18:31:02.658Z,1628965862.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.699982 m,
      bearing: 241.593217 deg,
      approachRate: 0.610553 m/s,
      LOS rate: -3.729192 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.172250 deg,
      new cmd heading: 281.172250 deg.

2021-08-14T18:31:05.041Z,1628965865.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:05.420Z,1628965865.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:05.420Z,1628965865.420 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:05.420Z,1628965865.420 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:05.421Z,1628965865.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:05.829Z,1628965865.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
344,000,01464,189,80,80,99,FF
2021-08-14T18:31:05.829Z,1628965865.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:05.829Z,1628965865.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:05.831Z,1628965865.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:06.240Z,1628965866.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:07.081Z,1628965867.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,01490,189,80,80,A1,FF
2021-08-14T18:31:07.082Z,1628965867.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:07.084Z,1628965867.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183107.75*50

2021-08-14T18:31:07.500Z,1628965867.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.339996 m, bearing: 233.983074 deg, deltaT: 4.808748 s, approachRate: 0.549002 m/s, LOS rate: -1.582562 deg/s, posRepo size: 4
2021-08-14T18:31:07.502Z,1628965867.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.339996 m,
      bearing: 233.983074 deg,
      approachRate: 0.549002 m/s,
      LOS rate: -1.582562 deg/s,
      cmd update: -6.330248 deg/s,
      cmd heading: 223.466889 deg,
      new cmd heading: 218.668665 deg.

2021-08-14T18:31:09.891Z,1628965869.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:10.269Z,1628965870.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:10.269Z,1628965870.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:10.270Z,1628965870.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:10.271Z,1628965870.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:10.667Z,1628965870.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,01490,189,80,80,A1,FF
2021-08-14T18:31:10.667Z,1628965870.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:10.700Z,1628965870.700 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:10.702Z,1628965870.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:11.082Z,1628965871.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:11.883Z,1628965871.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,014B1,185,80,80,AE,FF
2021-08-14T18:31:11.884Z,1628965871.884 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:11.891Z,1628965871.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183112.62*52

2021-08-14T18:31:12.363Z,1628965872.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.319977 m, bearing: 239.424358 deg, deltaT: 4.870609 s, approachRate: 0.406516 m/s, LOS rate: 1.117167 deg/s, posRepo size: 4
2021-08-14T18:31:12.381Z,1628965872.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.319977 m,
      bearing: 239.424358 deg,
      approachRate: 0.406516 m/s,
      LOS rate: 1.117167 deg/s,
      cmd update: 4.468668 deg/s,
      cmd heading: 192.634870 deg,
      new cmd heading: 190.149216 deg.

2021-08-14T18:31:14.739Z,1628965874.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:15.118Z,1628965875.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:15.118Z,1628965875.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:15.118Z,1628965875.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:15.119Z,1628965875.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:15.516Z,1628965875.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,014B1,185,80,80,AE,FF
2021-08-14T18:31:15.516Z,1628965875.516 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:15.516Z,1628965875.516 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:15.519Z,1628965875.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:15.924Z,1628965875.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:16.751Z,1628965876.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,014C7,186,80,80,7C,FF
2021-08-14T18:31:16.751Z,1628965876.751 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:16.754Z,1628965876.754 [Micromodem](INFO): Nmea in: $SNTTA,0.189692,,,,183117.43*47

2021-08-14T18:31:17.167Z,1628965877.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.639984 m, bearing: 245.337444 deg, deltaT: 4.838300 s, approachRate: 0.272825 m/s, LOS rate: 1.222141 deg/s, posRepo size: 4
2021-08-14T18:31:17.169Z,1628965877.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.639984 m,
      bearing: 245.337444 deg,
      approachRate: 0.272825 m/s,
      LOS rate: 1.222141 deg/s,
      cmd update: 4.888565 deg/s,
      cmd heading: 214.199600 deg,
      new cmd heading: 215.855014 deg.

2021-08-14T18:31:19.632Z,1628965879.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:19.961Z,1628965879.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:19.961Z,1628965879.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:19.961Z,1628965879.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:19.962Z,1628965879.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:20.369Z,1628965880.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,014C7,186,80,80,7C,FF
2021-08-14T18:31:20.369Z,1628965880.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:20.369Z,1628965880.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:20.371Z,1628965880.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:20.773Z,1628965880.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:21.637Z,1628965881.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E1,000,014CB,189,80,80,82,FF
2021-08-14T18:31:21.637Z,1628965881.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:21.641Z,1628965881.641 [Micromodem](INFO): Nmea in: $SNTTA,0.190324,,,,183122.29*4D

2021-08-14T18:31:22.040Z,1628965882.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.879974 m, bearing: 174.524557 deg, deltaT: 4.858407 s, approachRate: 0.049397 m/s, LOS rate: -14.575330 deg/s, posRepo size: 4
2021-08-14T18:31:22.043Z,1628965882.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.575330 deg/s. Setting heading cmd to target bearing of 174.524557deg and heading rate command to 0 deg/s.
2021-08-14T18:31:24.465Z,1628965884.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:24.820Z,1628965884.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:24.820Z,1628965884.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:24.820Z,1628965884.820 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:24.821Z,1628965884.821 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:24.845Z,1628965884.845 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:31:25.221Z,1628965885.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E1,000,014CB,189,80,80,82,FF
2021-08-14T18:31:25.221Z,1628965885.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:25.221Z,1628965885.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:25.223Z,1628965885.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:25.661Z,1628965885.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:26.425Z,1628965886.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014C6,189,80,80,C1,FF
2021-08-14T18:31:26.425Z,1628965886.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:26.429Z,1628965886.429 [Micromodem](INFO): Nmea in: $SNTTA,0.226299,0.355797,,,183127.14*5B

2021-08-14T18:31:26.880Z,1628965886.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.579987 m, bearing: 166.334163 deg, deltaT: 4.818965 s, approachRate: -0.062251 m/s, LOS rate: -1.699617 deg/s, posRepo size: 4
2021-08-14T18:31:26.882Z,1628965886.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.579987 m,
      bearing: 166.334163 deg,
      approachRate: -0.062251 m/s,
      LOS rate: -1.699617 deg/s,
      cmd update: -6.798467 deg/s,
      cmd heading: 174.524557 deg,
      new cmd heading: 174.524557 deg.

2021-08-14T18:31:29.285Z,1628965889.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:29.669Z,1628965889.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:29.669Z,1628965889.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:29.669Z,1628965889.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:29.670Z,1628965889.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:30.097Z,1628965890.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014C6,189,80,80,C1,FF
2021-08-14T18:31:30.097Z,1628965890.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:30.097Z,1628965890.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:30.099Z,1628965890.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:30.477Z,1628965890.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:31.298Z,1628965891.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,014CA,189,80,80,97,FF
2021-08-14T18:31:31.299Z,1628965891.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:31.305Z,1628965891.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183132.01*55

2021-08-14T18:31:31.721Z,1628965891.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.819977 m, bearing: 179.537738 deg, deltaT: 4.867822 s, approachRate: 0.049301 m/s, LOS rate: 2.712419 deg/s, posRepo size: 4
2021-08-14T18:31:31.723Z,1628965891.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.819977 m,
      bearing: 179.537738 deg,
      approachRate: 0.049301 m/s,
      LOS rate: 2.712419 deg/s,
      cmd update: 10.849678 deg/s,
      cmd heading: 141.491103 deg,
      new cmd heading: 138.937606 deg.

2021-08-14T18:31:34.167Z,1628965894.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:34.513Z,1628965894.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:34.514Z,1628965894.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:34.514Z,1628965894.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:34.515Z,1628965894.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:34.920Z,1628965894.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,014CA,189,80,80,97,FF
2021-08-14T18:31:34.920Z,1628965894.920 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:34.921Z,1628965894.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:34.922Z,1628965894.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:35.327Z,1628965895.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:36.153Z,1628965896.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014BE,189,80,80,B3,FF
2021-08-14T18:31:36.153Z,1628965896.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:36.156Z,1628965896.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183136.84*5C

2021-08-14T18:31:36.617Z,1628965896.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.100006 m, bearing: 141.328594 deg, deltaT: 4.878206 s, approachRate: -0.147589 m/s, LOS rate: -7.832622 deg/s, posRepo size: 4
2021-08-14T18:31:36.619Z,1628965896.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.100006 m,
      bearing: 141.328594 deg,
      approachRate: -0.147589 m/s,
      LOS rate: -7.832622 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 194.425531 deg,
      new cmd heading: 198.645318 deg.

2021-08-14T18:31:38.996Z,1628965898.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:39.359Z,1628965899.359 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:39.359Z,1628965899.359 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:39.359Z,1628965899.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:39.360Z,1628965899.360 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:39.762Z,1628965899.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014BE,189,80,80,B3,FF
2021-08-14T18:31:39.762Z,1628965899.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:39.762Z,1628965899.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:39.763Z,1628965899.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:40.205Z,1628965900.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:40.979Z,1628965900.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,014A6,189,80,80,AD,FF
2021-08-14T18:31:40.979Z,1628965900.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:41.415Z,1628965901.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.659973 m, bearing: 123.380851 deg, deltaT: 4.805819 s, approachRate: -0.299644 m/s, LOS rate: -3.734586 deg/s, posRepo size: 4
2021-08-14T18:31:41.418Z,1628965901.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.659973 m,
      bearing: 123.380851 deg,
      approachRate: -0.299644 m/s,
      LOS rate: -3.734586 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 136.795146 deg,
      new cmd heading: 132.127266 deg.

2021-08-14T18:31:43.856Z,1628965903.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:44.205Z,1628965904.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:44.205Z,1628965904.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:44.206Z,1628965904.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:44.206Z,1628965904.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:44.645Z,1628965904.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,014A6,189,80,80,AD,FF
2021-08-14T18:31:44.645Z,1628965904.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:44.645Z,1628965904.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:44.647Z,1628965904.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:45.025Z,1628965905.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:45.861Z,1628965905.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,01487,189,80,80,AA,FF
2021-08-14T18:31:45.861Z,1628965905.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:45.866Z,1628965905.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183146.56*54

2021-08-14T18:31:46.274Z,1628965906.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.799988 m, bearing: 128.469834 deg, deltaT: 4.894052 s, approachRate: -0.380050 m/s, LOS rate: 1.039830 deg/s, posRepo size: 4
2021-08-14T18:31:46.276Z,1628965906.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.799988 m,
      bearing: 128.469834 deg,
      approachRate: -0.380050 m/s,
      LOS rate: 1.039830 deg/s,
      cmd update: 4.159321 deg/s,
      cmd heading: 78.025925 deg,
      new cmd heading: 73.821964 deg.

2021-08-14T18:31:48.695Z,1628965908.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:49.053Z,1628965909.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:49.054Z,1628965909.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:49.054Z,1628965909.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:49.055Z,1628965909.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:49.453Z,1628965909.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,01487,189,80,80,AA,FF
2021-08-14T18:31:49.453Z,1628965909.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:49.454Z,1628965909.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:49.455Z,1628965909.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:49.865Z,1628965909.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:50.263Z,1628965910.263 [Micromodem](INFO): Nmea in: $SNTTA,0.240667,0.240661,,,183151.37*53

2021-08-14T18:31:50.671Z,1628965910.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,01454,186,80,80,A7,FF
2021-08-14T18:31:50.671Z,1628965910.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:51.125Z,1628965911.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.739990 m, bearing: 128.448278 deg, deltaT: 4.809443 s, approachRate: -0.636248 m/s, LOS rate: -0.004482 deg/s, posRepo size: 4
2021-08-14T18:31:51.127Z,1628965911.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.739990 m,
      bearing: 128.448278 deg,
      approachRate: -0.636248 m/s,
      LOS rate: -0.004482 deg/s,
      cmd update: -0.017928 deg/s,
      cmd heading: 98.016713 deg,
      new cmd heading: 99.657270 deg.

2021-08-14T18:31:53.546Z,1628965913.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:53.897Z,1628965913.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:53.897Z,1628965913.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:53.897Z,1628965913.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:53.898Z,1628965913.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:54.301Z,1628965914.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,01454,186,80,80,A7,FF
2021-08-14T18:31:54.301Z,1628965914.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:54.301Z,1628965914.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:54.303Z,1628965914.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:54.713Z,1628965914.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:31:55.530Z,1628965915.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,01423,184,80,80,B2,FF
2021-08-14T18:31:55.530Z,1628965915.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:31:55.534Z,1628965915.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183156.22*56

2021-08-14T18:31:55.980Z,1628965915.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.799988 m, bearing: 131.238520 deg, deltaT: 4.874968 s, approachRate: -0.603081 m/s, LOS rate: 0.572361 deg/s, posRepo size: 4
2021-08-14T18:31:55.982Z,1628965915.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.799988 m,
      bearing: 131.238520 deg,
      approachRate: -0.603081 m/s,
      LOS rate: 0.572361 deg/s,
      cmd update: 2.289444 deg/s,
      cmd heading: 97.929322 deg,
      new cmd heading: 97.922815 deg.

2021-08-14T18:31:58.394Z,1628965918.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:31:58.745Z,1628965918.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:31:58.745Z,1628965918.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:31:58.745Z,1628965918.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:31:58.746Z,1628965918.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:31:59.157Z,1628965919.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,01423,184,80,80,B2,FF
2021-08-14T18:31:59.157Z,1628965919.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:31:59.157Z,1628965919.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:31:59.159Z,1628965919.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:31:59.602Z,1628965919.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:00.361Z,1628965920.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,013EF,187,80,80,A8,FF
2021-08-14T18:32:00.361Z,1628965920.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:00.365Z,1628965920.365 [Micromodem](INFO): Nmea in: $SNTTA,0.181668,0.347279,,,183201.08*53

2021-08-14T18:32:00.802Z,1628965920.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.679993 m, bearing: 133.614059 deg, deltaT: 4.815859 s, approachRate: -0.647859 m/s, LOS rate: 0.493274 deg/s, posRepo size: 4
2021-08-14T18:32:00.804Z,1628965920.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.679993 m,
      bearing: 133.614059 deg,
      approachRate: -0.647859 m/s,
      LOS rate: 0.493274 deg/s,
      cmd update: 1.973097 deg/s,
      cmd heading: 108.981721 deg,
      new cmd heading: 109.828824 deg.

2021-08-14T18:32:03.210Z,1628965923.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:03.609Z,1628965923.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:03.609Z,1628965923.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:03.609Z,1628965923.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:03.610Z,1628965923.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:03.997Z,1628965923.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,013EF,187,80,80,A8,FF
2021-08-14T18:32:03.997Z,1628965923.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:03.997Z,1628965923.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:03.999Z,1628965923.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:04.413Z,1628965924.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:05.241Z,1628965925.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,013BC,187,80,80,95,FF
2021-08-14T18:32:05.241Z,1628965925.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:05.245Z,1628965925.245 [Micromodem](INFO): Nmea in: $SNTTA,0.179213,,,,183205.91*4A

2021-08-14T18:32:05.701Z,1628965925.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.619995 m, bearing: 138.814511 deg, deltaT: 4.827656 s, approachRate: -0.633847 m/s, LOS rate: 1.077221 deg/s, posRepo size: 4
2021-08-14T18:32:05.703Z,1628965925.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.619995 m,
      bearing: 138.814511 deg,
      approachRate: -0.633847 m/s,
      LOS rate: 1.077221 deg/s,
      cmd update: 4.308883 deg/s,
      cmd heading: 118.507263 deg,
      new cmd heading: 119.346275 deg.

2021-08-14T18:32:08.111Z,1628965928.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:08.441Z,1628965928.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:08.441Z,1628965928.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:08.441Z,1628965928.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:08.442Z,1628965928.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:08.857Z,1628965928.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,013BC,187,80,80,95,FF
2021-08-14T18:32:08.857Z,1628965928.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:08.857Z,1628965928.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:08.859Z,1628965928.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:09.257Z,1628965929.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:10.110Z,1628965930.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,01032,186,80,80,AA,FF
2021-08-14T18:32:10.111Z,1628965930.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:10.114Z,1628965930.114 [Micromodem](INFO): Nmea in: $SNTTA,0.147304,,,,183210.78*43

2021-08-14T18:32:10.500Z,1628965930.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.259995 m, bearing: 135.055694 deg, deltaT: 4.911970 s, approachRate: -11.066843 m/s, LOS rate: -0.765236 deg/s, posRepo size: 4
2021-08-14T18:32:10.502Z,1628965930.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.259995 m,
      bearing: 135.055694 deg,
      approachRate: -11.066843 m/s,
      LOS rate: -0.765236 deg/s,
      cmd update: -3.060945 deg/s,
      cmd heading: 139.603056 deg,
      new cmd heading: 141.083773 deg.

2021-08-14T18:32:12.929Z,1628965932.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:13.289Z,1628965933.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:13.289Z,1628965933.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:13.290Z,1628965933.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:13.291Z,1628965933.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:13.702Z,1628965933.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,01032,186,80,80,AA,FF
2021-08-14T18:32:13.702Z,1628965933.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:13.703Z,1628965933.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:13.705Z,1628965933.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:14.138Z,1628965934.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:14.936Z,1628965934.936 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,01355,186,80,80,A9,FF
2021-08-14T18:32:14.937Z,1628965934.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:14.939Z,1628965934.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183215.62*56

2021-08-14T18:32:15.357Z,1628965935.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.440002 m, bearing: 132.844078 deg, deltaT: 4.829691 s, approachRate: 9.975795 m/s, LOS rate: -0.457921 deg/s, posRepo size: 4
2021-08-14T18:32:15.358Z,1628965935.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.440002 m,
      bearing: 132.844078 deg,
      approachRate: 9.975795 m/s,
      LOS rate: -0.457921 deg/s,
      cmd update: -1.831683 deg/s,
      cmd heading: 124.782718 deg,
      new cmd heading: 123.684696 deg.

2021-08-14T18:32:17.762Z,1628965937.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:18.146Z,1628965938.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:18.146Z,1628965938.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:18.146Z,1628965938.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:18.147Z,1628965938.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:18.545Z,1628965938.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,01355,186,80,80,A9,FF
2021-08-14T18:32:18.545Z,1628965938.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:18.545Z,1628965938.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:18.547Z,1628965938.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:18.946Z,1628965938.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:19.793Z,1628965939.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0131E,184,80,80,A5,FF
2021-08-14T18:32:19.793Z,1628965939.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:19.796Z,1628965939.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183220.46*56

2021-08-14T18:32:20.216Z,1628965940.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.139984 m, bearing: 133.651571 deg, deltaT: 4.848980 s, approachRate: -0.680559 m/s, LOS rate: 0.166528 deg/s, posRepo size: 4
2021-08-14T18:32:20.218Z,1628965940.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.139984 m,
      bearing: 133.651571 deg,
      approachRate: -0.680559 m/s,
      LOS rate: 0.166528 deg/s,
      cmd update: 0.666113 deg/s,
      cmd heading: 115.902204 deg,
      new cmd heading: 115.224524 deg.

2021-08-14T18:32:22.630Z,1628965942.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:22.985Z,1628965942.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:22.985Z,1628965942.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:22.985Z,1628965942.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:22.986Z,1628965942.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:23.397Z,1628965943.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0131E,184,80,80,A5,FF
2021-08-14T18:32:23.398Z,1628965943.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:23.398Z,1628965943.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:23.399Z,1628965943.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:23.797Z,1628965943.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:24.201Z,1628965944.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,004FA,187,80,80,AD,FF
2021-08-14T18:32:24.201Z,1628965944.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:24.650Z,1628965944.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183225.32*50

2021-08-14T18:32:24.676Z,1628965944.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 130.248607 deg, deltaT: 4.409559 s, approachRate: -49.256622 m/s, LOS rate: -0.771724 deg/s, posRepo size: 4
2021-08-14T18:32:24.676Z,1628965944.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.94 m.
2021-08-14T18:32:24.678Z,1628965944.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.939999 m,
      bearing: 130.248607 deg,
      approachRate: -49.256622 m/s,
      LOS rate: -0.771724 deg/s,
      cmd update: -3.086898 deg/s,
      cmd heading: 118.842557 deg,
      new cmd heading: 119.119447 deg.

2021-08-14T18:32:25.054Z,1628965945.054 [PowerOnly](INFO): Powering up loadControl
2021-08-14T18:32:25.101Z,1628965945.101 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:32:25.101Z,1628965945.101 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:32:25.102Z,1628965945.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:32:25.102Z,1628965945.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:32:25.102Z,1628965945.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:32:25.102Z,1628965945.102 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:32:25.469Z,1628965945.469 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:32:25.470Z,1628965945.470 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:32:25.470Z,1628965945.470 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:32:25.470Z,1628965945.470 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:32:27.044Z,1628965947.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:27.469Z,1628965947.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:27.469Z,1628965947.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:27.469Z,1628965947.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:27.470Z,1628965947.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:27.833Z,1628965947.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,004FA,187,80,80,AD,FF
2021-08-14T18:32:27.833Z,1628965947.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:27.833Z,1628965947.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:27.835Z,1628965947.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:28.260Z,1628965948.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:29.069Z,1628965949.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,012B7,186,80,80,5C,FF
2021-08-14T18:32:29.070Z,1628965949.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:29.073Z,1628965949.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183229.75*5F

2021-08-14T18:32:29.120Z,1628965949.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:32:29.488Z,1628965949.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.959991 m, bearing: 130.461708 deg, deltaT: 4.857305 s, approachRate: 43.443840 m/s, LOS rate: 0.043872 deg/s, posRepo size: 4
2021-08-14T18:32:29.490Z,1628965949.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.959991 m,
      bearing: 130.461708 deg,
      approachRate: 43.443840 m/s,
      LOS rate: 0.043872 deg/s,
      cmd update: 0.175490 deg/s,
      cmd heading: 103.863451 deg,
      new cmd heading: 102.705713 deg.

2021-08-14T18:32:29.915Z,1628965949.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:32:29.915Z,1628965949.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:32:29.915Z,1628965949.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:32:29.932Z,1628965949.932 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:32:29.932Z,1628965949.932 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:32:29.932Z,1628965949.932 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:32:30.307Z,1628965950.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:32:30.307Z,1628965950.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:32:30.307Z,1628965950.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:32:30.307Z,1628965950.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:32:31.926Z,1628965951.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:32.283Z,1628965952.283 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:32.283Z,1628965952.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:32.283Z,1628965952.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:32.284Z,1628965952.284 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:32.690Z,1628965952.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,012B7,186,80,80,5C,FF
2021-08-14T18:32:32.690Z,1628965952.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:32.690Z,1628965952.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:32.692Z,1628965952.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:33.094Z,1628965953.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:33.933Z,1628965953.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,01283,186,80,80,43,FF
2021-08-14T18:32:33.933Z,1628965953.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:33.936Z,1628965953.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183234.61*56

2021-08-14T18:32:34.381Z,1628965954.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.839981 m, bearing: 133.622256 deg, deltaT: 4.845043 s, approachRate: -0.643959 m/s, LOS rate: 0.652326 deg/s, posRepo size: 4
2021-08-14T18:32:34.383Z,1628965954.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.839981 m,
      bearing: 133.622256 deg,
      approachRate: -0.643959 m/s,
      LOS rate: 0.652326 deg/s,
      cmd update: 2.609304 deg/s,
      cmd heading: 104.714543 deg,
      new cmd heading: 104.787218 deg.

2021-08-14T18:32:36.770Z,1628965956.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:37.134Z,1628965957.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:37.134Z,1628965957.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:37.134Z,1628965957.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:37.135Z,1628965957.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:37.542Z,1628965957.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,01283,186,80,80,43,FF
2021-08-14T18:32:37.542Z,1628965957.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:37.542Z,1628965957.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:37.544Z,1628965957.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:37.979Z,1628965957.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:38.774Z,1628965958.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,01253,188,80,80,A3,FF
2021-08-14T18:32:38.775Z,1628965958.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:38.779Z,1628965958.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183239.46*5E

2021-08-14T18:32:39.192Z,1628965959.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.959991 m, bearing: 139.152796 deg, deltaT: 4.886668 s, approachRate: -0.589357 m/s, LOS rate: 1.131761 deg/s, posRepo size: 4
2021-08-14T18:32:39.194Z,1628965959.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.959991 m,
      bearing: 139.152796 deg,
      approachRate: -0.589357 m/s,
      LOS rate: 1.131761 deg/s,
      cmd update: 4.527044 deg/s,
      cmd heading: 117.465135 deg,
      new cmd heading: 118.359151 deg.

2021-08-14T18:32:41.647Z,1628965961.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:41.977Z,1628965961.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:41.977Z,1628965961.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:41.977Z,1628965961.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:41.978Z,1628965961.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:42.381Z,1628965962.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,01253,188,80,80,A3,FF
2021-08-14T18:32:42.381Z,1628965962.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:42.381Z,1628965962.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:42.383Z,1628965962.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:42.797Z,1628965962.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:43.639Z,1628965963.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,01222,187,80,80,B0,FF
2021-08-14T18:32:43.639Z,1628965963.639 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:43.643Z,1628965963.643 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183244.31*54

2021-08-14T18:32:44.104Z,1628965964.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.019989 m, bearing: 133.081059 deg, deltaT: 4.868497 s, approachRate: -0.603883 m/s, LOS rate: -1.247148 deg/s, posRepo size: 4
2021-08-14T18:32:44.106Z,1628965964.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.019989 m,
      bearing: 133.081059 deg,
      approachRate: -0.603883 m/s,
      LOS rate: -1.247148 deg/s,
      cmd update: -4.988593 deg/s,
      cmd heading: 139.469477 deg,
      new cmd heading: 141.202660 deg.

2021-08-14T18:32:46.482Z,1628965966.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:46.825Z,1628965966.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:46.825Z,1628965966.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:46.825Z,1628965966.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:46.826Z,1628965966.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:47.237Z,1628965967.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,01222,187,80,80,B0,FF
2021-08-14T18:32:47.237Z,1628965967.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:47.237Z,1628965967.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:47.239Z,1628965967.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:47.653Z,1628965967.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:48.461Z,1628965968.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,011EF,186,80,80,BB,FF
2021-08-14T18:32:48.461Z,1628965968.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:48.464Z,1628965968.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183249.16*5C

2021-08-14T18:32:48.898Z,1628965968.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.959991 m, bearing: 130.201956 deg, deltaT: 4.888470 s, approachRate: -0.625962 m/s, LOS rate: -0.588958 deg/s, posRepo size: 4
2021-08-14T18:32:48.900Z,1628965968.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.959991 m,
      bearing: 130.201956 deg,
      approachRate: -0.625962 m/s,
      LOS rate: -0.588958 deg/s,
      cmd update: -2.355831 deg/s,
      cmd heading: 115.063454 deg,
      new cmd heading: 113.585354 deg.

2021-08-14T18:32:51.316Z,1628965971.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:51.677Z,1628965971.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:51.677Z,1628965971.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:51.677Z,1628965971.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:51.678Z,1628965971.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:52.117Z,1628965972.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,011EF,186,80,80,BB,FF
2021-08-14T18:32:52.117Z,1628965972.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:52.117Z,1628965972.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:52.119Z,1628965972.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:52.494Z,1628965972.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:53.289Z,1628965973.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,011BC,183,80,80,B2,FF
2021-08-14T18:32:53.290Z,1628965973.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:53.297Z,1628965973.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183254.04*53

2021-08-14T18:32:53.742Z,1628965973.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.899994 m, bearing: 128.003100 deg, deltaT: 4.773114 s, approachRate: -0.641090 m/s, LOS rate: -0.460675 deg/s, posRepo size: 4
2021-08-14T18:32:53.744Z,1628965973.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.899994 m,
      bearing: 128.003100 deg,
      approachRate: -0.641090 m/s,
      LOS rate: -0.460675 deg/s,
      cmd update: -1.842702 deg/s,
      cmd heading: 103.836920 deg,
      new cmd heading: 102.954103 deg.

2021-08-14T18:32:56.195Z,1628965976.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:32:56.522Z,1628965976.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:32:56.522Z,1628965976.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:32:56.522Z,1628965976.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:32:56.523Z,1628965976.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:32:56.925Z,1628965976.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,011BC,183,80,80,B2,FF
2021-08-14T18:32:56.925Z,1628965976.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:32:56.925Z,1628965976.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:32:56.927Z,1628965976.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:32:57.332Z,1628965977.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:32:58.168Z,1628965978.168 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,01187,187,80,80,B6,FF
2021-08-14T18:32:58.169Z,1628965978.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:32:58.171Z,1628965978.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183258.84*57

2021-08-14T18:32:58.607Z,1628965978.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.719986 m, bearing: 129.917534 deg, deltaT: 4.827647 s, approachRate: -0.658708 m/s, LOS rate: 0.396556 deg/s, posRepo size: 4
2021-08-14T18:32:58.613Z,1628965978.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.719986 m,
      bearing: 129.917534 deg,
      approachRate: -0.658708 m/s,
      LOS rate: 0.396556 deg/s,
      cmd update: 1.586225 deg/s,
      cmd heading: 94.919135 deg,
      new cmd heading: 94.181938 deg.

2021-08-14T18:33:00.989Z,1628965980.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:01.373Z,1628965981.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:01.373Z,1628965981.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:01.373Z,1628965981.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:01.374Z,1628965981.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:01.778Z,1628965981.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,01187,187,80,80,B6,FF
2021-08-14T18:33:01.778Z,1628965981.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:01.778Z,1628965981.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:01.780Z,1628965981.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:02.185Z,1628965982.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:03.017Z,1628965983.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,01158,189,80,80,A5,FF
2021-08-14T18:33:03.017Z,1628965983.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:03.021Z,1628965983.021 [Micromodem](INFO): Nmea in: $SNTTA,0.155214,,,,183303.70*4B

2021-08-14T18:33:03.428Z,1628965983.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.899979 m, bearing: 134.773948 deg, deltaT: 4.853809 s, approachRate: -0.580989 m/s, LOS rate: 1.000537 deg/s, posRepo size: 4
2021-08-14T18:33:03.430Z,1628965983.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.899979 m,
      bearing: 134.773948 deg,
      approachRate: -0.580989 m/s,
      LOS rate: 1.000537 deg/s,
      cmd update: 4.002147 deg/s,
      cmd heading: 102.579794 deg,
      new cmd heading: 103.201058 deg.

2021-08-14T18:33:05.838Z,1628965985.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:06.221Z,1628965986.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:06.221Z,1628965986.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:06.222Z,1628965986.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:06.223Z,1628965986.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:06.642Z,1628965986.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,01158,189,80,80,A5,FF
2021-08-14T18:33:06.642Z,1628965986.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:06.642Z,1628965986.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:06.644Z,1628965986.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:07.024Z,1628965987.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:07.839Z,1628965987.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,01128,188,80,80,BC,FF
2021-08-14T18:33:07.840Z,1628965987.840 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:07.847Z,1628965987.847 [Micromodem](INFO): Nmea in: $SNTTA,0.152880,,,,183308.56*44

2021-08-14T18:33:08.295Z,1628965988.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.019989 m, bearing: 138.539978 deg, deltaT: 4.854252 s, approachRate: -0.593292 m/s, LOS rate: 0.775821 deg/s, posRepo size: 4
2021-08-14T18:33:08.297Z,1628965988.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.019989 m,
      bearing: 138.539978 deg,
      approachRate: -0.593292 m/s,
      LOS rate: 0.775821 deg/s,
      cmd update: 3.103283 deg/s,
      cmd heading: 122.088400 deg,
      new cmd heading: 123.624292 deg.

2021-08-14T18:33:10.704Z,1628965990.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:11.061Z,1628965991.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:11.061Z,1628965991.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:11.061Z,1628965991.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:11.062Z,1628965991.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:11.461Z,1628965991.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,01128,188,80,80,BC,FF
2021-08-14T18:33:11.461Z,1628965991.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:11.461Z,1628965991.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:11.463Z,1628965991.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:11.878Z,1628965991.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:12.708Z,1628965992.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,010F2,187,80,80,B6,FF
2021-08-14T18:33:12.709Z,1628965992.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:12.712Z,1628965992.712 [Micromodem](INFO): Nmea in: $SNTTA,0.150546,,,,183313.38*43

2021-08-14T18:33:13.105Z,1628965993.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.779984 m, bearing: 133.026048 deg, deltaT: 4.823054 s, approachRate: -0.671775 m/s, LOS rate: -1.143244 deg/s, posRepo size: 4
2021-08-14T18:33:13.107Z,1628965993.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.779984 m,
      bearing: 133.026048 deg,
      approachRate: -0.671775 m/s,
      LOS rate: -1.143244 deg/s,
      cmd update: -4.572978 deg/s,
      cmd heading: 137.068293 deg,
      new cmd heading: 138.205153 deg.

2021-08-14T18:33:15.559Z,1628965995.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:15.909Z,1628965995.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:15.909Z,1628965995.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:15.909Z,1628965995.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:15.910Z,1628965995.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:16.325Z,1628965996.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,010F2,187,80,80,B6,FF
2021-08-14T18:33:16.325Z,1628965996.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:16.325Z,1628965996.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:16.327Z,1628965996.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:16.724Z,1628965996.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:17.549Z,1628965997.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,010C0,185,80,80,B4,FF
2021-08-14T18:33:17.549Z,1628965997.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:17.555Z,1628965997.555 [Micromodem](INFO): Nmea in: $SNTTA,0.148703,,,,183318.24*4F

2021-08-14T18:33:17.975Z,1628965997.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.779984 m, bearing: 128.580975 deg, deltaT: 4.883216 s, approachRate: -0.614349 m/s, LOS rate: -0.910276 deg/s, posRepo size: 4
2021-08-14T18:33:17.977Z,1628965997.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.779984 m,
      bearing: 128.580975 deg,
      approachRate: -0.614349 m/s,
      LOS rate: -0.910276 deg/s,
      cmd update: -3.641103 deg/s,
      cmd heading: 114.776732 deg,
      new cmd heading: 113.121849 deg.

2021-08-14T18:33:20.421Z,1628966000.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:20.761Z,1628966000.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:20.761Z,1628966000.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:20.762Z,1628966000.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:20.762Z,1628966000.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:21.161Z,1628966001.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,010C0,185,80,80,B4,FF
2021-08-14T18:33:21.161Z,1628966001.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:21.161Z,1628966001.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:21.163Z,1628966001.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:21.602Z,1628966001.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:22.405Z,1628966002.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,01089,185,80,80,AD,FF
2021-08-14T18:33:22.405Z,1628966002.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:22.408Z,1628966002.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183323.08*5E

2021-08-14T18:33:22.835Z,1628966002.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.479996 m, bearing: 130.124038 deg, deltaT: 4.890574 s, approachRate: -0.674765 m/s, LOS rate: 0.315518 deg/s, posRepo size: 4
2021-08-14T18:33:22.841Z,1628966002.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.479996 m,
      bearing: 130.124038 deg,
      approachRate: -0.674765 m/s,
      LOS rate: 0.315518 deg/s,
      cmd update: 1.262071 deg/s,
      cmd heading: 96.979707 deg,
      new cmd heading: 95.761852 deg.

2021-08-14T18:33:25.224Z,1628966005.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:25.629Z,1628966005.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:25.629Z,1628966005.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:25.629Z,1628966005.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:25.630Z,1628966005.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:26.010Z,1628966006.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,01089,185,80,80,AD,FF
2021-08-14T18:33:26.010Z,1628966006.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:26.010Z,1628966006.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:26.012Z,1628966006.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:26.424Z,1628966006.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:27.241Z,1628966007.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,01054,186,80,80,A6,FF
2021-08-14T18:33:27.241Z,1628966007.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:27.249Z,1628966007.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183327.93*58

2021-08-14T18:33:27.679Z,1628966007.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.299988 m, bearing: 132.378792 deg, deltaT: 4.785392 s, approachRate: -0.664524 m/s, LOS rate: 0.471175 deg/s, posRepo size: 4
2021-08-14T18:33:27.701Z,1628966007.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.299988 m,
      bearing: 132.378792 deg,
      approachRate: -0.664524 m/s,
      LOS rate: 0.471175 deg/s,
      cmd update: 1.884698 deg/s,
      cmd heading: 102.992495 deg,
      new cmd heading: 103.515024 deg.

2021-08-14T18:33:30.175Z,1628966010.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:30.453Z,1628966010.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:30.453Z,1628966010.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:30.453Z,1628966010.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:30.454Z,1628966010.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:30.857Z,1628966010.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,01054,186,80,80,A6,FF
2021-08-14T18:33:30.857Z,1628966010.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:30.857Z,1628966010.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:30.859Z,1628966010.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:31.264Z,1628966011.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:32.129Z,1628966012.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,287,000,01024,189,80,80,98,FF
2021-08-14T18:33:32.129Z,1628966012.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:32.133Z,1628966012.133 [Micromodem](INFO): Nmea in: $SNTTA,0.142404,,,,183332.78*40

2021-08-14T18:33:32.551Z,1628966012.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.419983 m, bearing: 73.878461 deg, deltaT: 4.907736 s, approachRate: -0.586830 m/s, LOS rate: -11.920024 deg/s, posRepo size: 4
2021-08-14T18:33:32.552Z,1628966012.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.920024 deg/s. Setting heading cmd to target bearing of 73.878461deg and heading rate command to 0 deg/s.
2021-08-14T18:33:34.926Z,1628966014.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:35.301Z,1628966015.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:35.301Z,1628966015.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:35.301Z,1628966015.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:35.302Z,1628966015.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:35.779Z,1628966015.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
287,000,01024,189,80,80,98,FF
2021-08-14T18:33:35.779Z,1628966015.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:35.779Z,1628966015.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:35.781Z,1628966015.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:36.159Z,1628966016.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:36.921Z,1628966016.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00FF4,187,80,80,9B,FF
2021-08-14T18:33:36.921Z,1628966016.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:37.337Z,1628966017.337 [Micromodem](INFO): Nmea in: $SNTTA,0.140534,,,,183337.70*4D

2021-08-14T18:33:37.378Z,1628966017.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.539993 m, bearing: 136.573567 deg, deltaT: 4.808153 s, approachRate: -0.598980 m/s, LOS rate: 13.039332 deg/s, posRepo size: 4
2021-08-14T18:33:37.379Z,1628966017.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.039332 deg/s. Setting heading cmd to target bearing of 136.573567deg and heading rate command to 0 deg/s.
2021-08-14T18:33:39.797Z,1628966019.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:40.157Z,1628966020.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:40.157Z,1628966020.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:40.157Z,1628966020.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:40.158Z,1628966020.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:40.580Z,1628966020.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00FF4,187,80,80,9B,FF
2021-08-14T18:33:40.580Z,1628966020.580 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:40.581Z,1628966020.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:40.587Z,1628966020.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:40.964Z,1628966020.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:41.779Z,1628966021.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,00FC1,189,80,80,8D,FF
2021-08-14T18:33:41.780Z,1628966021.780 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:41.797Z,1628966021.797 [Micromodem](INFO): Nmea in: $SNTTA,0.144994,,,,183342.51*4E

2021-08-14T18:33:42.268Z,1628966022.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.479996 m, bearing: 136.741220 deg, deltaT: 4.835058 s, approachRate: -0.632877 m/s, LOS rate: 0.034675 deg/s, posRepo size: 4
2021-08-14T18:33:42.270Z,1628966022.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.479996 m,
      bearing: 136.741220 deg,
      approachRate: -0.632877 m/s,
      LOS rate: 0.034675 deg/s,
      cmd update: 0.138699 deg/s,
      cmd heading: 136.573567 deg,
      new cmd heading: 136.573567 deg.

2021-08-14T18:33:44.658Z,1628966024.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:45.005Z,1628966025.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:45.005Z,1628966025.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:45.005Z,1628966025.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:45.006Z,1628966025.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:45.417Z,1628966025.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,00FC1,189,80,80,8D,FF
2021-08-14T18:33:45.417Z,1628966025.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:45.418Z,1628966025.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:45.419Z,1628966025.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:45.812Z,1628966025.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:46.653Z,1628966026.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,00F98,186,80,80,7F,FF
2021-08-14T18:33:46.653Z,1628966026.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:46.657Z,1628966026.657 [Micromodem](INFO): Nmea in: $SNTTA,0.137280,,,,183347.34*42

2021-08-14T18:33:47.072Z,1628966027.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.019989 m, bearing: 81.118359 deg, deltaT: 4.875029 s, approachRate: -0.504614 m/s, LOS rate: -11.409750 deg/s, posRepo size: 4
2021-08-14T18:33:47.074Z,1628966027.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.019989 m,
      bearing: 81.118359 deg,
      approachRate: -0.504614 m/s,
      LOS rate: -11.409750 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 137.249757 deg,
      new cmd heading: 137.298100 deg.

2021-08-14T18:33:49.497Z,1628966029.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:49.853Z,1628966029.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:49.853Z,1628966029.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:49.853Z,1628966029.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:49.854Z,1628966029.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:50.281Z,1628966030.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,00F98,186,80,80,7F,FF
2021-08-14T18:33:50.281Z,1628966030.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:50.281Z,1628966030.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:50.283Z,1628966030.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:50.662Z,1628966030.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:51.467Z,1628966031.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00F69,186,80,80,6E,FF
2021-08-14T18:33:51.468Z,1628966031.468 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:51.475Z,1628966031.475 [Micromodem](INFO): Nmea in: $SNTTA,0.134915,,,,183352.20*47

2021-08-14T18:33:51.939Z,1628966031.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.199997 m, bearing: 137.056748 deg, deltaT: 4.828841 s, approachRate: -0.583989 m/s, LOS rate: 11.584227 deg/s, posRepo size: 4
2021-08-14T18:33:51.939Z,1628966031.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.584227 deg/s. Setting heading cmd to target bearing of 137.056748deg and heading rate command to 0 deg/s.
2021-08-14T18:33:54.354Z,1628966034.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:54.693Z,1628966034.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:54.693Z,1628966034.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:54.693Z,1628966034.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:54.694Z,1628966034.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:55.102Z,1628966035.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00F69,186,80,80,6E,FF
2021-08-14T18:33:55.102Z,1628966035.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:55.103Z,1628966035.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:55.105Z,1628966035.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:33:55.510Z,1628966035.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:33:56.318Z,1628966036.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,00F36,186,80,80,9E,FF
2021-08-14T18:33:56.318Z,1628966036.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:33:56.321Z,1628966036.321 [Micromodem](INFO): Nmea in: $SNTTA,0.372495,0.372508,,,183357.02*52

2021-08-14T18:33:56.793Z,1628966036.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.139999 m, bearing: 134.522365 deg, deltaT: 4.821731 s, approachRate: -0.634626 m/s, LOS rate: -0.525617 deg/s, posRepo size: 4
2021-08-14T18:33:56.795Z,1628966036.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.139999 m,
      bearing: 134.522365 deg,
      approachRate: -0.634626 m/s,
      LOS rate: -0.525617 deg/s,
      cmd update: -2.102467 deg/s,
      cmd heading: 137.056748 deg,
      new cmd heading: 137.056748 deg.

2021-08-14T18:33:59.198Z,1628966039.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:33:59.549Z,1628966039.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:33:59.549Z,1628966039.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:33:59.549Z,1628966039.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:33:59.550Z,1628966039.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:33:59.954Z,1628966039.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,00F36,186,80,80,9E,FF
2021-08-14T18:33:59.954Z,1628966039.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:33:59.954Z,1628966039.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:33:59.956Z,1628966039.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:00.365Z,1628966040.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:01.185Z,1628966041.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,00F04,189,80,80,A1,FF
2021-08-14T18:34:01.185Z,1628966041.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:01.189Z,1628966041.189 [Micromodem](INFO): Nmea in: $SNTTA,0.130799,,,,183401.87*45

2021-08-14T18:34:01.661Z,1628966041.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.139999 m, bearing: 78.617233 deg, deltaT: 4.840748 s, approachRate: -0.619739 m/s, LOS rate: -11.548862 deg/s, posRepo size: 4
2021-08-14T18:34:01.662Z,1628966041.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.548862 deg/s. Setting heading cmd to target bearing of 78.617233deg and heading rate command to 0 deg/s.
2021-08-14T18:34:04.016Z,1628966044.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:04.405Z,1628966044.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:04.405Z,1628966044.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:04.405Z,1628966044.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:04.406Z,1628966044.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:04.801Z,1628966044.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,00F04,189,80,80,A1,FF
2021-08-14T18:34:04.801Z,1628966044.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:04.802Z,1628966044.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:04.804Z,1628966044.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:05.206Z,1628966045.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:05.642Z,1628966045.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,00E04,189,80,80,A1,FF
2021-08-14T18:34:05.642Z,1628966045.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:06.061Z,1628966046.061 [Micromodem](INFO): Nmea in: $SNTTA,0.128924,,,,183406.72*49

2021-08-14T18:34:06.145Z,1628966046.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.779999 m, bearing: 137.501106 deg, deltaT: 4.522924 s, approachRate: -3.396033 m/s, LOS rate: 13.018983 deg/s, posRepo size: 4
2021-08-14T18:34:06.146Z,1628966046.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.018983 deg/s. Setting heading cmd to target bearing of 137.501106deg and heading rate command to 0 deg/s.
2021-08-14T18:34:08.500Z,1628966048.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:08.845Z,1628966048.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:08.845Z,1628966048.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:08.845Z,1628966048.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:08.846Z,1628966048.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:09.249Z,1628966049.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,00E04,189,80,80,A1,FF
2021-08-14T18:34:09.249Z,1628966049.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:09.249Z,1628966049.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:09.251Z,1628966049.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:09.653Z,1628966049.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:10.073Z,1628966050.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,00E04,189,80,80,A1,FF
2021-08-14T18:34:10.074Z,1628966050.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:10.493Z,1628966050.493 [Micromodem](INFO): Nmea in: $SNTTA,0.127177,,,,183411.17*4D

2021-08-14T18:34:10.522Z,1628966050.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.779999 m, bearing: 139.940481 deg, deltaT: 4.415845 s, approachRate: 0.000000 m/s, LOS rate: 0.552414 deg/s, posRepo size: 4
2021-08-14T18:34:10.556Z,1628966050.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 139.940481 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.552414 deg/s,
      cmd update: 2.209656 deg/s,
      cmd heading: 137.501106 deg,
      new cmd heading: 137.501106 deg.

2021-08-14T18:34:12.930Z,1628966052.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:13.281Z,1628966053.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:13.281Z,1628966053.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:13.281Z,1628966053.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:13.282Z,1628966053.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:13.694Z,1628966053.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,00E04,189,80,80,A1,FF
2021-08-14T18:34:13.694Z,1628966053.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:13.694Z,1628966053.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:13.696Z,1628966053.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:14.133Z,1628966054.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:14.917Z,1628966054.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00E7B,186,80,80,AE,FF
2021-08-14T18:34:14.917Z,1628966054.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:14.921Z,1628966054.921 [Micromodem](INFO): Nmea in: $SNTTA,0.125362,,,,183415.61*4C

2021-08-14T18:34:15.351Z,1628966055.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.919998 m, bearing: 83.417831 deg, deltaT: 4.793395 s, approachRate: 1.489550 m/s, LOS rate: -11.791778 deg/s, posRepo size: 4
2021-08-14T18:34:15.352Z,1628966055.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.791778 deg/s. Setting heading cmd to target bearing of 83.417831deg and heading rate command to 0 deg/s.
2021-08-14T18:34:17.754Z,1628966057.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:18.137Z,1628966058.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:18.137Z,1628966058.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:18.138Z,1628966058.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:18.138Z,1628966058.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:18.553Z,1628966058.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00E7B,186,80,80,AE,FF
2021-08-14T18:34:18.554Z,1628966058.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:18.554Z,1628966058.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:18.561Z,1628966058.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:18.941Z,1628966058.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:19.773Z,1628966059.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:19.774Z,1628966059.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:19.777Z,1628966059.777 [Micromodem](INFO): Nmea in: $SNTTA,0.123483,,,,183420.48*4F

2021-08-14T18:34:20.202Z,1628966060.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 139.571268 deg, deltaT: 4.856971 s, approachRate: -0.580607 m/s, LOS rate: 11.561411 deg/s, posRepo size: 4
2021-08-14T18:34:20.203Z,1628966060.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.561411 deg/s. Setting heading cmd to target bearing of 139.571268deg and heading rate command to 0 deg/s.
2021-08-14T18:34:22.645Z,1628966062.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:22.988Z,1628966062.988 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:22.988Z,1628966062.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:22.988Z,1628966062.988 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:22.989Z,1628966062.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:23.381Z,1628966063.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:23.381Z,1628966063.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:23.381Z,1628966063.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:23.383Z,1628966063.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:23.797Z,1628966063.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:24.190Z,1628966064.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:24.190Z,1628966064.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:24.641Z,1628966064.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183425.30*54

2021-08-14T18:34:24.700Z,1628966064.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 139.758525 deg, deltaT: 4.471993 s, approachRate: 0.000000 m/s, LOS rate: 0.041873 deg/s, posRepo size: 4
2021-08-14T18:34:24.702Z,1628966064.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.100006 m,
      bearing: 139.758525 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.041873 deg/s,
      cmd update: 0.167493 deg/s,
      cmd heading: 139.571268 deg,
      new cmd heading: 139.571268 deg.

2021-08-14T18:34:27.043Z,1628966067.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:27.425Z,1628966067.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:27.426Z,1628966067.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:27.426Z,1628966067.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:27.427Z,1628966067.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:27.833Z,1628966067.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:27.833Z,1628966067.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:27.833Z,1628966067.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:27.835Z,1628966067.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:28.232Z,1628966068.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:28.650Z,1628966068.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:28.650Z,1628966068.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:29.073Z,1628966069.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183429.76*5A

2021-08-14T18:34:29.096Z,1628966069.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 80.048055 deg, deltaT: 4.429777 s, approachRate: 0.000000 m/s, LOS rate: -13.479340 deg/s, posRepo size: 4
2021-08-14T18:34:29.097Z,1628966069.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.479340 deg/s. Setting heading cmd to target bearing of 80.048055deg and heading rate command to 0 deg/s.
2021-08-14T18:34:31.491Z,1628966071.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:31.873Z,1628966071.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:31.873Z,1628966071.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:31.873Z,1628966071.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:31.874Z,1628966071.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:32.277Z,1628966072.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:32.277Z,1628966072.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:32.277Z,1628966072.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:32.279Z,1628966072.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:32.677Z,1628966072.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:33.082Z,1628966073.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:33.083Z,1628966073.083 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:33.514Z,1628966073.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183434.20*55

2021-08-14T18:34:33.596Z,1628966073.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 142.198924 deg, deltaT: 4.424165 s, approachRate: 0.000000 m/s, LOS rate: 14.048045 deg/s, posRepo size: 4
2021-08-14T18:34:33.597Z,1628966073.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.048045 deg/s. Setting heading cmd to target bearing of 142.198924deg and heading rate command to 0 deg/s.
2021-08-14T18:34:35.959Z,1628966075.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:36.313Z,1628966076.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:36.313Z,1628966076.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:36.313Z,1628966076.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:36.314Z,1628966076.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:36.713Z,1628966076.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00E4C,186,80,80,BD,FF
2021-08-14T18:34:36.713Z,1628966076.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:36.713Z,1628966076.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:36.715Z,1628966076.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:37.121Z,1628966077.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:37.529Z,1628966077.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00D4C,186,80,80,BD,FF
2021-08-14T18:34:37.529Z,1628966077.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:37.978Z,1628966077.978 [Micromodem](INFO): Nmea in: $SNTTA,0.116546,,,,183438.64*46

2021-08-14T18:34:38.009Z,1628966078.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.740005 m, bearing: 142.889484 deg, deltaT: 4.474538 s, approachRate: -3.432757 m/s, LOS rate: 0.154331 deg/s, posRepo size: 4
2021-08-14T18:34:38.011Z,1628966078.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.740005 m,
      bearing: 142.889484 deg,
      approachRate: -3.432757 m/s,
      LOS rate: 0.154331 deg/s,
      cmd update: 0.617324 deg/s,
      cmd heading: 142.198924 deg,
      new cmd heading: 142.198924 deg.

2021-08-14T18:34:40.415Z,1628966080.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:40.759Z,1628966080.759 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:40.759Z,1628966080.759 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:40.760Z,1628966080.760 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:40.761Z,1628966080.761 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:41.161Z,1628966081.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00D4C,186,80,80,BD,FF
2021-08-14T18:34:41.161Z,1628966081.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:41.161Z,1628966081.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:41.163Z,1628966081.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:41.585Z,1628966081.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:41.977Z,1628966081.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,00D65,186,80,80,BD,FF
2021-08-14T18:34:41.977Z,1628966081.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:42.389Z,1628966082.389 [Micromodem](INFO): Nmea in: $SNTTA,0.226157,0.385774,,,183443.08*50

2021-08-14T18:34:42.440Z,1628966082.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 80.492891 deg, deltaT: 4.400667 s, approachRate: 0.340857 m/s, LOS rate: -14.178894 deg/s, posRepo size: 4
2021-08-14T18:34:42.441Z,1628966082.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.178894 deg/s. Setting heading cmd to target bearing of 80.492891deg and heading rate command to 0 deg/s.
2021-08-14T18:34:44.845Z,1628966084.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:45.205Z,1628966085.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:45.205Z,1628966085.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:45.205Z,1628966085.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:45.206Z,1628966085.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:45.637Z,1628966085.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,00D65,186,80,80,BD,FF
2021-08-14T18:34:45.637Z,1628966085.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:45.637Z,1628966085.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:45.639Z,1628966085.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:46.087Z,1628966086.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:46.452Z,1628966086.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,00D3A,186,80,80,BD,FF
2021-08-14T18:34:46.452Z,1628966086.452 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:46.885Z,1628966086.885 [Micromodem](INFO): Nmea in: $SNTTA,0.113044,,,,183447.56*4D

2021-08-14T18:34:46.913Z,1628966086.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 144.968156 deg, deltaT: 4.470114 s, approachRate: -0.577163 m/s, LOS rate: 14.423628 deg/s, posRepo size: 4
2021-08-14T18:34:46.913Z,1628966086.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.423628 deg/s. Setting heading cmd to target bearing of 144.968156deg and heading rate command to 0 deg/s.
2021-08-14T18:34:49.292Z,1628966089.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:49.689Z,1628966089.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:49.689Z,1628966089.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:49.690Z,1628966089.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:49.690Z,1628966089.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:50.117Z,1628966090.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,00D3A,186,80,80,BD,FF
2021-08-14T18:34:50.117Z,1628966090.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:50.117Z,1628966090.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:50.119Z,1628966090.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:50.497Z,1628966090.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:51.296Z,1628966091.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00D0A,186,80,80,90,FF
2021-08-14T18:34:51.297Z,1628966091.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:51.303Z,1628966091.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183452.04*53

2021-08-14T18:34:51.730Z,1628966091.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.780014 m, bearing: 138.644740 deg, deltaT: 4.888856 s, approachRate: -0.589096 m/s, LOS rate: -1.293435 deg/s, posRepo size: 4
2021-08-14T18:34:51.733Z,1628966091.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.780014 m,
      bearing: 138.644740 deg,
      approachRate: -0.589096 m/s,
      LOS rate: -1.293435 deg/s,
      cmd update: -5.173739 deg/s,
      cmd heading: 144.968156 deg,
      new cmd heading: 144.968156 deg.

2021-08-14T18:34:54.176Z,1628966094.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:54.522Z,1628966094.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:54.522Z,1628966094.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:54.522Z,1628966094.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:54.523Z,1628966094.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:54.929Z,1628966094.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00D0A,186,80,80,90,FF
2021-08-14T18:34:54.929Z,1628966094.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:54.929Z,1628966094.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:54.931Z,1628966094.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:55.336Z,1628966095.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:34:55.737Z,1628966095.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00CDB,186,80,80,90,FF
2021-08-14T18:34:55.738Z,1628966095.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:34:56.178Z,1628966096.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183456.85*5E

2021-08-14T18:34:56.227Z,1628966096.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.960007 m, bearing: 141.951658 deg, deltaT: 4.419586 s, approachRate: -0.638070 m/s, LOS rate: 0.748242 deg/s, posRepo size: 4
2021-08-14T18:34:56.230Z,1628966096.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.960007 m,
      bearing: 141.951658 deg,
      approachRate: -0.638070 m/s,
      LOS rate: 0.748242 deg/s,
      cmd update: 2.992966 deg/s,
      cmd heading: 122.146160 deg,
      new cmd heading: 119.782139 deg.

2021-08-14T18:34:58.651Z,1628966098.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:34:58.976Z,1628966098.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:34:58.976Z,1628966098.976 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:34:58.976Z,1628966098.976 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:34:58.977Z,1628966098.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:34:59.370Z,1628966099.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,00CDB,186,80,80,90,FF
2021-08-14T18:34:59.371Z,1628966099.371 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:34:59.371Z,1628966099.371 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:34:59.375Z,1628966099.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:34:59.777Z,1628966099.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:00.178Z,1628966100.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00CAE,186,80,80,90,FF
2021-08-14T18:35:00.178Z,1628966100.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:00.183Z,1628966100.183 [Micromodem](INFO): Nmea in: $SNTTA,0.106974,0.238010,,,183501.29*5E

2021-08-14T18:35:00.642Z,1628966100.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 140.103190 deg, deltaT: 4.504765 s, approachRate: -0.599365 m/s, LOS rate: -0.410336 deg/s, posRepo size: 4
2021-08-14T18:35:00.649Z,1628966100.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 140.103190 deg,
      approachRate: -0.599365 m/s,
      LOS rate: -0.410336 deg/s,
      cmd update: -1.641344 deg/s,
      cmd heading: 135.654548 deg,
      new cmd heading: 136.727614 deg.

2021-08-14T18:35:03.039Z,1628966103.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:03.409Z,1628966103.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:03.409Z,1628966103.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:03.409Z,1628966103.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:03.410Z,1628966103.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:03.809Z,1628966103.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00CAE,186,80,80,90,FF
2021-08-14T18:35:03.809Z,1628966103.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:03.810Z,1628966103.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:03.811Z,1628966103.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:04.221Z,1628966104.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:04.641Z,1628966104.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00C7F,184,80,80,96,FF
2021-08-14T18:35:04.641Z,1628966104.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:05.064Z,1628966105.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.440002 m, bearing: 135.096566 deg, deltaT: 4.417331 s, approachRate: -0.638396 m/s, LOS rate: -1.133405 deg/s, posRepo size: 4
2021-08-14T18:35:05.085Z,1628966105.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.440002 m,
      bearing: 135.096566 deg,
      approachRate: -0.638396 m/s,
      LOS rate: -1.133405 deg/s,
      cmd update: -4.533619 deg/s,
      cmd heading: 128.404382 deg,
      new cmd heading: 127.809465 deg.

2021-08-14T18:35:07.476Z,1628966107.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:07.865Z,1628966107.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:07.865Z,1628966107.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:07.865Z,1628966107.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:07.866Z,1628966107.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:08.261Z,1628966108.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00C7F,184,80,80,96,FF
2021-08-14T18:35:08.261Z,1628966108.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:08.261Z,1628966108.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:08.263Z,1628966108.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:08.679Z,1628966108.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:09.069Z,1628966109.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00C4E,183,80,80,96,FF
2021-08-14T18:35:09.070Z,1628966109.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:09.542Z,1628966109.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183510.18*59

2021-08-14T18:35:09.542Z,1628966109.542 [Micromodem](INFO): Nmea in: $CARE330*74

2021-08-14T18:35:09.543Z,1628966109.543 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CARE330*74
 expected 25
2021-08-14T18:35:09.613Z,1628966109.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.500000 m, bearing: 135.027417 deg, deltaT: 4.423732 s, approachRate: -0.664598 m/s, LOS rate: -0.015631 deg/s, posRepo size: 4
2021-08-14T18:35:09.615Z,1628966109.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 135.027417 deg,
      approachRate: -0.664598 m/s,
      LOS rate: -0.015631 deg/s,
      cmd update: -0.062525 deg/s,
      cmd heading: 108.404094 deg,
      new cmd heading: 106.153388 deg.

2021-08-14T18:35:11.932Z,1628966111.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:12.297Z,1628966112.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:12.297Z,1628966112.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:12.297Z,1628966112.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:12.298Z,1628966112.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:12.701Z,1628966112.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00C4E,183,80,80,96,FF
2021-08-14T18:35:12.701Z,1628966112.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:12.701Z,1628966112.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:12.703Z,1628966112.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:13.109Z,1628966113.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:13.512Z,1628966113.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00562,187,80,80,9A,FF
2021-08-14T18:35:13.513Z,1628966113.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:13.945Z,1628966113.945 [Micromodem](INFO): Nmea in: $SNTTA,0.038361,,,,183514.62*41

2021-08-14T18:35:14.106Z,1628966114.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.179996 m, bearing: 139.133481 deg, deltaT: 4.477128 s, approachRate: -23.747368 m/s, LOS rate: 0.917120 deg/s, posRepo size: 4
2021-08-14T18:35:14.112Z,1628966114.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.179996 m,
      bearing: 139.133481 deg,
      approachRate: -23.747368 m/s,
      LOS rate: 0.917120 deg/s,
      cmd update: 3.668480 deg/s,
      cmd heading: 108.123375 deg,
      new cmd heading: 108.091872 deg.

2021-08-14T18:35:16.386Z,1628966116.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:16.741Z,1628966116.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:16.741Z,1628966116.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:16.741Z,1628966116.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:16.742Z,1628966116.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:17.153Z,1628966117.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00562,187,80,80,9A,FF
2021-08-14T18:35:17.153Z,1628966117.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:17.154Z,1628966117.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:17.155Z,1628966117.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:17.629Z,1628966117.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:17.647Z,1628966117.647 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T18:35:17.961Z,1628966117.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00BF1,188,80,80,7A,FF
2021-08-14T18:35:17.962Z,1628966117.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:18.393Z,1628966118.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183519.08*51

2021-08-14T18:35:18.442Z,1628966118.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.919998 m, bearing: 141.824015 deg, deltaT: 4.405372 s, approachRate: 22.867537 m/s, LOS rate: 0.610739 deg/s, posRepo size: 4
2021-08-14T18:35:18.444Z,1628966118.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.919998 m,
      bearing: 141.824015 deg,
      approachRate: 22.867537 m/s,
      LOS rate: 0.610739 deg/s,
      cmd update: 2.442958 deg/s,
      cmd heading: 124.185327 deg,
      new cmd heading: 125.878434 deg.

2021-08-14T18:35:20.830Z,1628966120.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:21.185Z,1628966121.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:21.185Z,1628966121.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:21.185Z,1628966121.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:21.186Z,1628966121.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:21.621Z,1628966121.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00BF1,188,80,80,7A,FF
2021-08-14T18:35:21.621Z,1628966121.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:21.621Z,1628966121.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:21.623Z,1628966121.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:22.023Z,1628966122.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:22.426Z,1628966122.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00BC3,187,80,80,A5,FF
2021-08-14T18:35:22.426Z,1628966122.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:22.861Z,1628966122.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183523.54*51

2021-08-14T18:35:22.886Z,1628966122.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.160004 m, bearing: 140.232267 deg, deltaT: 4.477987 s, approachRate: -0.616347 m/s, LOS rate: -0.355461 deg/s, posRepo size: 4
2021-08-14T18:35:22.913Z,1628966122.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.160004 m,
      bearing: 140.232267 deg,
      approachRate: -0.616347 m/s,
      LOS rate: -0.355461 deg/s,
      cmd update: -1.421843 deg/s,
      cmd heading: 135.195191 deg,
      new cmd heading: 136.170224 deg.

2021-08-14T18:35:25.263Z,1628966125.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:25.652Z,1628966125.652 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:25.652Z,1628966125.652 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:25.653Z,1628966125.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:25.653Z,1628966125.653 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:26.129Z,1628966126.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00BC3,187,80,80,A5,FF
2021-08-14T18:35:26.129Z,1628966126.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:26.129Z,1628966126.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:26.131Z,1628966126.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:26.518Z,1628966126.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:26.913Z,1628966126.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00B91,183,80,80,A5,FF
2021-08-14T18:35:26.914Z,1628966126.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:27.339Z,1628966127.339 [Micromodem](INFO): Nmea in: $SNTTA,0.108495,,,,183528.05*41

2021-08-14T18:35:27.360Z,1628966127.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.160004 m, bearing: 136.558144 deg, deltaT: 4.539206 s, approachRate: -0.660909 m/s, LOS rate: -0.809420 deg/s, posRepo size: 4
2021-08-14T18:35:27.362Z,1628966127.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.160004 m,
      bearing: 136.558144 deg,
      approachRate: -0.660909 m/s,
      LOS rate: -0.809420 deg/s,
      cmd update: -3.237679 deg/s,
      cmd heading: 128.807848 deg,
      new cmd heading: 128.267114 deg.

2021-08-14T18:35:29.770Z,1628966129.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:30.141Z,1628966130.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:30.141Z,1628966130.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:30.141Z,1628966130.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:30.142Z,1628966130.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:30.560Z,1628966130.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00B91,183,80,80,A5,FF
2021-08-14T18:35:30.561Z,1628966130.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:30.562Z,1628966130.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:30.567Z,1628966130.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:30.953Z,1628966130.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:31.354Z,1628966131.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD7,000,00B64,184,80,80,A5,FF
2021-08-14T18:35:31.355Z,1628966131.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:31.781Z,1628966131.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183532.49*5D

2021-08-14T18:35:31.821Z,1628966131.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.460007 m, bearing: 136.457535 deg, deltaT: 4.366287 s, approachRate: -0.618374 m/s, LOS rate: -0.023042 deg/s, posRepo size: 4
2021-08-14T18:35:31.823Z,1628966131.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.460007 m,
      bearing: 136.457535 deg,
      approachRate: -0.618374 m/s,
      LOS rate: -0.023042 deg/s,
      cmd update: -0.092169 deg/s,
      cmd heading: 114.578160 deg,
      new cmd heading: 113.134899 deg.

2021-08-14T18:35:34.241Z,1628966134.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:34.615Z,1628966134.615 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:34.616Z,1628966134.616 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:34.616Z,1628966134.616 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:34.617Z,1628966134.617 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:34.989Z,1628966134.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD7,000,00B64,184,80,80,A5,FF
2021-08-14T18:35:34.989Z,1628966134.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:34.989Z,1628966134.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:34.991Z,1628966134.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:35.401Z,1628966135.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:35.801Z,1628966135.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00B30,187,80,80,9C,FF
2021-08-14T18:35:35.801Z,1628966135.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:36.245Z,1628966136.245 [Micromodem](INFO): Nmea in: $SNTTA,0.102039,,,,183536.91*4B

2021-08-14T18:35:36.309Z,1628966136.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.339996 m, bearing: 138.558379 deg, deltaT: 4.460593 s, approachRate: -0.699461 m/s, LOS rate: 0.470978 deg/s, posRepo size: 4
2021-08-14T18:35:36.311Z,1628966136.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.339996 m,
      bearing: 138.558379 deg,
      approachRate: -0.699461 m/s,
      LOS rate: 0.470978 deg/s,
      cmd update: 1.883914 deg/s,
      cmd heading: 114.165155 deg,
      new cmd heading: 114.123764 deg.

2021-08-14T18:35:37.838Z,1628966137.838 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:35:38.674Z,1628966138.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:39.033Z,1628966139.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:39.033Z,1628966139.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:39.033Z,1628966139.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:39.034Z,1628966139.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:39.433Z,1628966139.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00B30,187,80,80,9C,FF
2021-08-14T18:35:39.433Z,1628966139.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:39.433Z,1628966139.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:39.435Z,1628966139.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:39.840Z,1628966139.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:40.688Z,1628966140.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183541.35*52

2021-08-14T18:35:41.471Z,1628966141.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:42.671Z,1628966142.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:35:43.073Z,1628966143.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,9C,FF
2021-08-14T18:35:43.073Z,1628966143.073 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,9C,FF
2021-08-14T18:35:43.073Z,1628966143.073 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:35:44.336Z,1628966144.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:44.698Z,1628966144.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:44.698Z,1628966144.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:44.698Z,1628966144.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:44.699Z,1628966144.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:45.089Z,1628966145.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,9C,FF
2021-08-14T18:35:45.089Z,1628966145.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:45.089Z,1628966145.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:45.091Z,1628966145.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:45.496Z,1628966145.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:45.909Z,1628966145.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00AC4,186,80,80,BA,FF
2021-08-14T18:35:45.909Z,1628966145.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:46.341Z,1628966146.341 [Micromodem](INFO): Nmea in: $SNTTA,0.085040,,,,183547.01*44

2021-08-14T18:35:46.391Z,1628966146.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 138.400451 deg, deltaT: 10.110173 s, approachRate: -0.640938 m/s, LOS rate: -0.015621 deg/s, posRepo size: 4
2021-08-14T18:35:46.393Z,1628966146.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.860001 m,
      bearing: 138.400451 deg,
      approachRate: -0.640938 m/s,
      LOS rate: -0.015621 deg/s,
      cmd update: -0.062483 deg/s,
      cmd heading: 133.196789 deg,
      new cmd heading: 134.011934 deg.

2021-08-14T18:35:47.942Z,1628966147.942 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:35:48.753Z,1628966148.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:49.129Z,1628966149.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:49.129Z,1628966149.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:49.129Z,1628966149.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:49.130Z,1628966149.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:49.530Z,1628966149.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00AC4,186,80,80,BA,FF
2021-08-14T18:35:49.530Z,1628966149.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:49.531Z,1628966149.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:49.534Z,1628966149.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:49.945Z,1628966149.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:50.349Z,1628966150.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00A95,184,80,80,99,FF
2021-08-14T18:35:50.349Z,1628966150.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:50.781Z,1628966150.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183551.45*54

2021-08-14T18:35:50.821Z,1628966150.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.040001 m, bearing: 138.264558 deg, deltaT: 4.441215 s, approachRate: -0.634961 m/s, LOS rate: -0.030598 deg/s, posRepo size: 4
2021-08-14T18:35:50.823Z,1628966150.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.040001 m,
      bearing: 138.264558 deg,
      approachRate: -0.634961 m/s,
      LOS rate: -0.030598 deg/s,
      cmd update: -0.122393 deg/s,
      cmd heading: 132.918790 deg,
      new cmd heading: 132.892924 deg.

2021-08-14T18:35:52.795Z,1628966152.795 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:35:53.188Z,1628966153.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:53.593Z,1628966153.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:53.593Z,1628966153.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:53.594Z,1628966153.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:53.594Z,1628966153.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:53.977Z,1628966153.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00A95,184,80,80,99,FF
2021-08-14T18:35:53.977Z,1628966153.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:53.977Z,1628966153.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:53.979Z,1628966153.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:54.388Z,1628966154.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:54.789Z,1628966154.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00A63,183,80,80,B4,FF
2021-08-14T18:35:54.789Z,1628966154.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:55.229Z,1628966155.229 [Micromodem](INFO): Nmea in: $SNTTA,0.103534,,,,183555.90*46

2021-08-14T18:35:55.265Z,1628966155.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.040009 m, bearing: 136.560985 deg, deltaT: 4.409970 s, approachRate: -0.680275 m/s, LOS rate: -0.386300 deg/s, posRepo size: 4
2021-08-14T18:35:55.267Z,1628966155.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 136.560985 deg,
      approachRate: -0.680275 m/s,
      LOS rate: -0.386300 deg/s,
      cmd update: -1.545201 deg/s,
      cmd heading: 132.379065 deg,
      new cmd heading: 132.324247 deg.

2021-08-14T18:35:57.667Z,1628966157.667 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:35:57.682Z,1628966157.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:35:58.017Z,1628966158.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:35:58.017Z,1628966158.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:35:58.017Z,1628966158.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:35:58.018Z,1628966158.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:35:58.421Z,1628966158.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00A63,183,80,80,B4,FF
2021-08-14T18:35:58.421Z,1628966158.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:35:58.421Z,1628966158.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:35:58.423Z,1628966158.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:35:58.833Z,1628966158.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:35:59.233Z,1628966159.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00A31,183,80,80,C4,FF
2021-08-14T18:35:59.233Z,1628966159.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:35:59.674Z,1628966159.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183600.34*55

2021-08-14T18:35:59.700Z,1628966159.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 132.142345 deg, deltaT: 4.458091 s, approachRate: -0.672935 m/s, LOS rate: -0.991151 deg/s, posRepo size: 4
2021-08-14T18:35:59.702Z,1628966159.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 132.142345 deg,
      approachRate: -0.672935 m/s,
      LOS rate: -0.991151 deg/s,
      cmd update: -3.964603 deg/s,
      cmd heading: 125.496344 deg,
      new cmd heading: 124.833252 deg.

2021-08-14T18:36:02.130Z,1628966162.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:02.461Z,1628966162.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:02.461Z,1628966162.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:02.461Z,1628966162.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:02.462Z,1628966162.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:02.869Z,1628966162.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00A31,183,80,80,C4,FF
2021-08-14T18:36:02.869Z,1628966162.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:02.870Z,1628966162.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:02.871Z,1628966162.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:03.273Z,1628966163.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:03.677Z,1628966163.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,009FE,185,80,80,B2,FF
2021-08-14T18:36:03.677Z,1628966163.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:03.689Z,1628966163.689 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T18:36:04.133Z,1628966164.133 [Micromodem](INFO): Nmea in: $SNTTA,0.115772,,,,183604.79*41

2021-08-14T18:36:04.199Z,1628966164.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 130.476134 deg, deltaT: 4.466554 s, approachRate: -0.685091 m/s, LOS rate: -0.373042 deg/s, posRepo size: 4
2021-08-14T18:36:04.206Z,1628966164.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 130.476134 deg,
      approachRate: -0.685091 m/s,
      LOS rate: -0.373042 deg/s,
      cmd update: -1.492167 deg/s,
      cmd heading: 107.806898 deg,
      new cmd heading: 105.958545 deg.

2021-08-14T18:36:06.557Z,1628966166.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:06.909Z,1628966166.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:06.909Z,1628966166.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:06.909Z,1628966166.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:06.910Z,1628966166.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:07.313Z,1628966167.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,009FE,185,80,80,B2,FF
2021-08-14T18:36:07.314Z,1628966167.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:07.314Z,1628966167.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:07.315Z,1628966167.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:07.716Z,1628966167.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:08.129Z,1628966168.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,009CB,186,80,80,C4,FF
2021-08-14T18:36:08.129Z,1628966168.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:08.577Z,1628966168.577 [Micromodem](INFO): Nmea in: $SNTTA,0.080257,,,,183609.24*4B

2021-08-14T18:36:08.601Z,1628966168.601 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:36:08.636Z,1628966168.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 133.285404 deg, deltaT: 4.450094 s, approachRate: -0.687625 m/s, LOS rate: 0.631283 deg/s, posRepo size: 4
2021-08-14T18:36:08.638Z,1628966168.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 133.285404 deg,
      approachRate: -0.687625 m/s,
      LOS rate: 0.631283 deg/s,
      cmd update: 2.525134 deg/s,
      cmd heading: 101.153607 deg,
      new cmd heading: 100.490940 deg.

2021-08-14T18:36:11.002Z,1628966171.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:11.353Z,1628966171.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:11.354Z,1628966171.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:11.354Z,1628966171.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:11.355Z,1628966171.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:11.753Z,1628966171.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,009CB,186,80,80,C4,FF
2021-08-14T18:36:11.753Z,1628966171.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:11.753Z,1628966171.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:11.755Z,1628966171.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:12.175Z,1628966172.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:12.611Z,1628966172.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,0099D,189,80,80,BE,FF
2021-08-14T18:36:12.613Z,1628966172.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:13.006Z,1628966173.006 [Micromodem](INFO): Nmea in: $SNTTA,,0.046490,,,183613.68*4F

2021-08-14T18:36:13.022Z,1628966173.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 138.075238 deg, deltaT: 4.471749 s, approachRate: -0.617209 m/s, LOS rate: 1.071132 deg/s, posRepo size: 4
2021-08-14T18:36:13.024Z,1628966173.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.160004 m,
      bearing: 138.075238 deg,
      approachRate: -0.617209 m/s,
      LOS rate: 1.071132 deg/s,
      cmd update: 4.284529 deg/s,
      cmd heading: 112.435267 deg,
      new cmd heading: 113.350527 deg.

2021-08-14T18:36:15.410Z,1628966175.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:15.801Z,1628966175.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:15.801Z,1628966175.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:15.801Z,1628966175.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:15.802Z,1628966175.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:16.202Z,1628966176.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,0099D,189,80,80,BE,FF
2021-08-14T18:36:16.202Z,1628966176.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:16.202Z,1628966176.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:16.204Z,1628966176.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:16.639Z,1628966176.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:17.001Z,1628966177.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0096D,186,80,80,CA,FF
2021-08-14T18:36:17.002Z,1628966177.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:17.442Z,1628966177.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183618.13*59

2021-08-14T18:36:17.483Z,1628966177.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 135.763397 deg, deltaT: 4.360350 s, approachRate: -0.660499 m/s, LOS rate: -0.530196 deg/s, posRepo size: 4
2021-08-14T18:36:17.485Z,1628966177.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.279999 m,
      bearing: 135.763397 deg,
      approachRate: -0.660499 m/s,
      LOS rate: -0.530196 deg/s,
      cmd update: -2.120785 deg/s,
      cmd heading: 131.134385 deg,
      new cmd heading: 133.100928 deg.

2021-08-14T18:36:19.886Z,1628966179.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:20.239Z,1628966180.239 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:20.239Z,1628966180.239 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:20.239Z,1628966180.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:20.240Z,1628966180.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:20.657Z,1628966180.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0096D,186,80,80,CA,FF
2021-08-14T18:36:20.657Z,1628966180.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:20.657Z,1628966180.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:20.659Z,1628966180.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:21.058Z,1628966181.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:21.461Z,1628966181.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,0093E,184,80,80,91,FF
2021-08-14T18:36:21.461Z,1628966181.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:21.905Z,1628966181.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183622.58*5F

2021-08-14T18:36:21.960Z,1628966181.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 131.326574 deg, deltaT: 4.482885 s, approachRate: -0.629057 m/s, LOS rate: -0.989725 deg/s, posRepo size: 4
2021-08-14T18:36:21.962Z,1628966181.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.460007 m,
      bearing: 131.326574 deg,
      approachRate: -0.629057 m/s,
      LOS rate: -0.989725 deg/s,
      cmd update: -3.958899 deg/s,
      cmd heading: 121.636075 deg,
      new cmd heading: 120.675128 deg.

2021-08-14T18:36:24.325Z,1628966184.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:24.705Z,1628966184.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:24.705Z,1628966184.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:24.705Z,1628966184.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:24.706Z,1628966184.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:25.089Z,1628966185.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,0093E,184,80,80,91,FF
2021-08-14T18:36:25.089Z,1628966185.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:25.089Z,1628966185.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:25.091Z,1628966185.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:25.523Z,1628966185.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:25.901Z,1628966185.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,0090D,185,80,80,9F,FF
2021-08-14T18:36:25.901Z,1628966185.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:26.337Z,1628966186.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183627.01*56

2021-08-14T18:36:26.385Z,1628966186.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.520004 m, bearing: 130.635783 deg, deltaT: 4.458553 s, approachRate: -0.659407 m/s, LOS rate: -0.154936 deg/s, posRepo size: 4
2021-08-14T18:36:26.387Z,1628966186.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.520004 m,
      bearing: 130.635783 deg,
      approachRate: -0.659407 m/s,
      LOS rate: -0.154936 deg/s,
      cmd update: -0.619745 deg/s,
      cmd heading: 104.000576 deg,
      new cmd heading: 102.307715 deg.

2021-08-14T18:36:27.976Z,1628966187.976 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T18:36:27.976Z,1628966187.976 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T18:36:27.976Z,1628966187.976 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T18:36:28.148Z,1628966188.148 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T18:36:28.432Z,1628966188.432 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T18:36:28.473Z,1628966188.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:28.733Z,1628966188.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:28.733Z,1628966188.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:28.733Z,1628966188.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:28.735Z,1628966188.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:29.137Z,1628966189.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,0090D,185,80,80,9F,FF
2021-08-14T18:36:29.138Z,1628966189.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:29.138Z,1628966189.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:29.139Z,1628966189.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:29.331Z,1628966189.331 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T18:36:29.331Z,1628966189.331 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T18:36:29.546Z,1628966189.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:29.937Z,1628966189.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,008DF,186,80,80,B8,FF
2021-08-14T18:36:29.938Z,1628966189.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:30.385Z,1628966190.385 [Micromodem](INFO): Nmea in: $SNTTA,0.070461,,,,183631.06*4C

2021-08-14T18:36:30.433Z,1628966190.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.759995 m, bearing: 131.472576 deg, deltaT: 4.010621 s, approachRate: -0.688175 m/s, LOS rate: 0.208644 deg/s, posRepo size: 4
2021-08-14T18:36:30.435Z,1628966190.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.759995 m,
      bearing: 131.472576 deg,
      approachRate: -0.688175 m/s,
      LOS rate: 0.208644 deg/s,
      cmd update: 0.834578 deg/s,
      cmd heading: 101.512445 deg,
      new cmd heading: 101.226621 deg.

2021-08-14T18:36:32.825Z,1628966192.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:33.169Z,1628966193.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:33.169Z,1628966193.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:33.169Z,1628966193.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:33.170Z,1628966193.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:33.579Z,1628966193.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,008DF,186,80,80,B8,FF
2021-08-14T18:36:33.579Z,1628966193.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:33.579Z,1628966193.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:33.582Z,1628966193.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:33.980Z,1628966193.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:34.390Z,1628966194.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D91,000,008B2,189,80,80,A7,FF
2021-08-14T18:36:34.391Z,1628966194.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:34.813Z,1628966194.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183635.50*51

2021-08-14T18:36:34.864Z,1628966194.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.060005 m, bearing: 137.972048 deg, deltaT: 4.505158 s, approachRate: -0.599311 m/s, LOS rate: 1.442673 deg/s, posRepo size: 4
2021-08-14T18:36:34.866Z,1628966194.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.060005 m,
      bearing: 137.972048 deg,
      approachRate: -0.599311 m/s,
      LOS rate: 1.442673 deg/s,
      cmd update: 5.770693 deg/s,
      cmd heading: 105.272098 deg,
      new cmd heading: 105.588328 deg.

2021-08-14T18:36:37.232Z,1628966197.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:37.620Z,1628966197.620 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:37.620Z,1628966197.620 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:37.620Z,1628966197.620 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:37.621Z,1628966197.621 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:38.017Z,1628966198.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D91,000,008B2,189,80,80,A7,FF
2021-08-14T18:36:38.017Z,1628966198.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:38.017Z,1628966198.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:38.039Z,1628966198.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:38.429Z,1628966198.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:38.825Z,1628966198.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,00884,189,80,80,C1,FF
2021-08-14T18:36:38.825Z,1628966198.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:39.262Z,1628966199.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183639.96*57

2021-08-14T18:36:39.295Z,1628966199.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.300003 m, bearing: 141.272969 deg, deltaT: 4.408715 s, approachRate: -0.626033 m/s, LOS rate: 0.748726 deg/s, posRepo size: 4
2021-08-14T18:36:39.325Z,1628966199.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.300003 m,
      bearing: 141.272969 deg,
      approachRate: -0.626033 m/s,
      LOS rate: 0.748726 deg/s,
      cmd update: 2.994905 deg/s,
      cmd heading: 130.715142 deg,
      new cmd heading: 133.069216 deg.

2021-08-14T18:36:41.690Z,1628966201.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:42.088Z,1628966202.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:42.089Z,1628966202.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:42.089Z,1628966202.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:42.089Z,1628966202.089 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:42.467Z,1628966202.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,00884,189,80,80,C1,FF
2021-08-14T18:36:42.467Z,1628966202.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:42.467Z,1628966202.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:42.469Z,1628966202.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:42.872Z,1628966202.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:43.269Z,1628966203.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00856,186,80,80,61,FF
2021-08-14T18:36:43.270Z,1628966203.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:43.717Z,1628966203.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183644.39*58

2021-08-14T18:36:43.772Z,1628966203.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.540001 m, bearing: 130.442010 deg, deltaT: 4.466427 s, approachRate: -0.617944 m/s, LOS rate: -2.424972 deg/s, posRepo size: 4
2021-08-14T18:36:43.774Z,1628966203.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.540001 m,
      bearing: 130.442010 deg,
      approachRate: -0.617944 m/s,
      LOS rate: -2.424972 deg/s,
      cmd update: -9.699886 deg/s,
      cmd heading: 144.091408 deg,
      new cmd heading: 145.336130 deg.

2021-08-14T18:36:46.166Z,1628966206.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:46.508Z,1628966206.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:46.508Z,1628966206.508 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:46.509Z,1628966206.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:46.510Z,1628966206.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:46.910Z,1628966206.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00856,186,80,80,61,FF
2021-08-14T18:36:46.910Z,1628966206.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:46.910Z,1628966206.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:46.912Z,1628966206.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:47.313Z,1628966207.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:48.154Z,1628966208.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183648.84*52

2021-08-14T18:36:48.929Z,1628966208.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,035B3,186,80,80,82,FF
2021-08-14T18:36:48.930Z,1628966208.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:49.365Z,1628966209.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 787.320068 m, bearing: 128.054012 deg, deltaT: 5.623202 s, approachRate: 123.911621 m/s, LOS rate: -0.424669 deg/s, posRepo size: 4
2021-08-14T18:36:49.367Z,1628966209.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 787.320068 m,
      bearing: 128.054012 deg,
      approachRate: 123.911621 m/s,
      LOS rate: -0.424669 deg/s,
      cmd update: -1.698675 deg/s,
      cmd heading: 89.510943 deg,
      new cmd heading: 85.772268 deg.

2021-08-14T18:36:51.783Z,1628966211.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:52.166Z,1628966212.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:52.166Z,1628966212.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:52.166Z,1628966212.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:52.167Z,1628966212.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:52.576Z,1628966212.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,035B3,186,80,80,82,FF
2021-08-14T18:36:52.576Z,1628966212.576 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:52.577Z,1628966212.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:52.578Z,1628966212.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:52.983Z,1628966212.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:53.385Z,1628966213.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,007E9,184,80,80,C4,FF
2021-08-14T18:36:53.385Z,1628966213.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:53.803Z,1628966213.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183654.51*57

2021-08-14T18:36:53.829Z,1628966213.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.000000 m, bearing: 130.503892 deg, deltaT: 4.427322 s, approachRate: -158.859024 m/s, LOS rate: 0.553355 deg/s, posRepo size: 4
2021-08-14T18:36:53.831Z,1628966213.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.000000 m,
      bearing: 130.503892 deg,
      approachRate: -158.859024 m/s,
      LOS rate: 0.553355 deg/s,
      cmd update: 2.213419 deg/s,
      cmd heading: 81.989761 deg,
      new cmd heading: 81.271550 deg.

2021-08-14T18:36:56.244Z,1628966216.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:36:56.601Z,1628966216.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:36:56.601Z,1628966216.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:36:56.601Z,1628966216.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:36:56.602Z,1628966216.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:36:57.003Z,1628966217.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,007E9,184,80,80,C4,FF
2021-08-14T18:36:57.003Z,1628966217.003 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:36:57.003Z,1628966217.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:36:57.005Z,1628966217.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:36:57.420Z,1628966217.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:36:57.813Z,1628966217.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,007BB,186,80,80,88,FF
2021-08-14T18:36:57.813Z,1628966217.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:36:58.270Z,1628966218.270 [Micromodem](INFO): Nmea in: $SNTTA,0.072441,,,,183658.93*4F

2021-08-14T18:36:58.306Z,1628966218.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 131.688615 deg, deltaT: 4.434175 s, approachRate: -0.622439 m/s, LOS rate: 0.267180 deg/s, posRepo size: 4
2021-08-14T18:36:58.308Z,1628966218.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 131.688615 deg,
      approachRate: -0.622439 m/s,
      LOS rate: 0.267180 deg/s,
      cmd update: 1.068721 deg/s,
      cmd heading: 91.803990 deg,
      new cmd heading: 92.833965 deg.

2021-08-14T18:37:00.721Z,1628966220.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:01.053Z,1628966221.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:01.053Z,1628966221.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:01.053Z,1628966221.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:01.054Z,1628966221.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:01.454Z,1628966221.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,007BB,186,80,80,88,FF
2021-08-14T18:37:01.454Z,1628966221.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:01.454Z,1628966221.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:01.456Z,1628966221.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:01.857Z,1628966221.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:02.266Z,1628966222.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,0078E,187,80,80,87,FF
2021-08-14T18:37:02.266Z,1628966222.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:02.737Z,1628966222.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183703.38*5B

2021-08-14T18:37:02.763Z,1628966222.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.540001 m, bearing: 76.702608 deg, deltaT: 4.462273 s, approachRate: -0.605072 m/s, LOS rate: -12.322421 deg/s, posRepo size: 4
2021-08-14T18:37:02.764Z,1628966222.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.322421 deg/s. Setting heading cmd to target bearing of 76.702608deg and heading rate command to 0 deg/s.
2021-08-14T18:37:05.114Z,1628966225.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:05.489Z,1628966225.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:05.489Z,1628966225.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:05.489Z,1628966225.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:05.490Z,1628966225.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:05.897Z,1628966225.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,0078E,187,80,80,87,FF
2021-08-14T18:37:05.897Z,1628966225.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:05.897Z,1628966225.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:05.899Z,1628966225.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:06.297Z,1628966226.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:06.734Z,1628966226.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,00763,187,80,80,73,FF
2021-08-14T18:37:06.735Z,1628966226.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:07.137Z,1628966227.137 [Micromodem](INFO): Nmea in: $SNTTA,0.060139,,,,183707.82*4D

2021-08-14T18:37:07.168Z,1628966227.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 75.171539 deg, deltaT: 4.459088 s, approachRate: -0.578594 m/s, LOS rate: -0.343359 deg/s, posRepo size: 4
2021-08-14T18:37:07.170Z,1628966227.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.959999 m,
      bearing: 75.171539 deg,
      approachRate: -0.578594 m/s,
      LOS rate: -0.343359 deg/s,
      cmd update: -1.373437 deg/s,
      cmd heading: 76.702608 deg,
      new cmd heading: 76.702608 deg.

2021-08-14T18:37:09.551Z,1628966229.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:09.933Z,1628966229.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:09.933Z,1628966229.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:09.933Z,1628966229.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:09.934Z,1628966229.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:10.334Z,1628966230.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,00763,187,80,80,73,FF
2021-08-14T18:37:10.334Z,1628966230.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:10.334Z,1628966230.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:10.335Z,1628966230.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:10.772Z,1628966230.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:11.142Z,1628966231.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4E,000,00741,189,80,80,A0,FF
2021-08-14T18:37:11.142Z,1628966231.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:11.586Z,1628966231.586 [Micromodem](INFO): Nmea in: $SNTTA,0.067782,,,,183712.26*46

2021-08-14T18:37:11.602Z,1628966231.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 132.958156 deg, deltaT: 4.429301 s, approachRate: -0.460568 m/s, LOS rate: 13.046442 deg/s, posRepo size: 4
2021-08-14T18:37:11.603Z,1628966231.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.046442 deg/s. Setting heading cmd to target bearing of 132.958156deg and heading rate command to 0 deg/s.
2021-08-14T18:37:14.088Z,1628966234.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:14.377Z,1628966234.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:14.377Z,1628966234.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:14.377Z,1628966234.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:14.378Z,1628966234.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:14.789Z,1628966234.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4E,000,00741,189,80,80,A0,FF
2021-08-14T18:37:14.789Z,1628966234.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:14.789Z,1628966234.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:14.791Z,1628966234.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:15.189Z,1628966235.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:15.593Z,1628966235.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B26,000,0071F,188,80,80,91,FF
2021-08-14T18:37:15.594Z,1628966235.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:16.015Z,1628966236.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183716.76*55

2021-08-14T18:37:16.123Z,1628966236.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.880005 m, bearing: 142.545611 deg, deltaT: 4.419200 s, approachRate: -0.461622 m/s, LOS rate: 2.169500 deg/s, posRepo size: 4
2021-08-14T18:37:16.129Z,1628966236.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.880005 m,
      bearing: 142.545611 deg,
      approachRate: -0.461622 m/s,
      LOS rate: 2.169500 deg/s,
      cmd update: 8.678000 deg/s,
      cmd heading: 132.958156 deg,
      new cmd heading: 132.958156 deg.

2021-08-14T18:37:18.126Z,1628966238.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:18.417Z,1628966238.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:18.417Z,1628966238.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:18.417Z,1628966238.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:18.418Z,1628966238.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:18.829Z,1628966238.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B26,000,0071F,188,80,80,91,FF
2021-08-14T18:37:18.829Z,1628966238.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:18.829Z,1628966238.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:18.831Z,1628966238.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:19.238Z,1628966239.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:19.629Z,1628966239.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,00704,189,80,80,9F,FF
2021-08-14T18:37:19.630Z,1628966239.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:20.089Z,1628966240.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183720.75*53

2021-08-14T18:37:20.173Z,1628966240.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.260010 m, bearing: 128.799063 deg, deltaT: 4.072651 s, approachRate: -0.397774 m/s, LOS rate: -3.375332 deg/s, posRepo size: 4
2021-08-14T18:37:20.175Z,1628966240.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.260010 m,
      bearing: 128.799063 deg,
      approachRate: -0.397774 m/s,
      LOS rate: -3.375332 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 168.129450 deg,
      new cmd heading: 172.512439 deg.

2021-08-14T18:37:22.479Z,1628966242.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:22.861Z,1628966242.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:22.862Z,1628966242.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:22.862Z,1628966242.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:22.863Z,1628966242.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:23.265Z,1628966243.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,00704,189,80,80,9F,FF
2021-08-14T18:37:23.265Z,1628966243.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:23.265Z,1628966243.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:23.267Z,1628966243.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:23.684Z,1628966243.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:24.125Z,1628966244.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,006DF,187,80,80,91,FF
2021-08-14T18:37:24.125Z,1628966244.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:24.514Z,1628966244.514 [Micromodem](INFO): Nmea in: $SNTTA,0.057225,,,,183725.19*45

2021-08-14T18:37:24.554Z,1628966244.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 79.868899 deg, deltaT: 4.511421 s, approachRate: -0.492086 m/s, LOS rate: -10.845843 deg/s, posRepo size: 4
2021-08-14T18:37:24.561Z,1628966244.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.040001 m,
      bearing: 79.868899 deg,
      approachRate: -0.492086 m/s,
      LOS rate: -10.845843 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 113.804308 deg,
      new cmd heading: 109.459191 deg.

2021-08-14T18:37:26.945Z,1628966246.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:27.305Z,1628966247.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:27.305Z,1628966247.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:27.305Z,1628966247.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:27.306Z,1628966247.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:27.741Z,1628966247.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,006DF,187,80,80,91,FF
2021-08-14T18:37:27.741Z,1628966247.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:27.741Z,1628966247.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:27.743Z,1628966247.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:28.153Z,1628966248.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:28.526Z,1628966248.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,006B4,187,80,80,8B,FF
2021-08-14T18:37:28.526Z,1628966248.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:28.939Z,1628966248.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183729.67*59

2021-08-14T18:37:28.995Z,1628966248.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 137.736256 deg, deltaT: 4.357380 s, approachRate: -0.592098 m/s, LOS rate: 13.280310 deg/s, posRepo size: 4
2021-08-14T18:37:29.000Z,1628966249.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.280310 deg/s. Setting heading cmd to target bearing of 137.736256deg and heading rate command to 0 deg/s.
2021-08-14T18:37:31.373Z,1628966251.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:31.757Z,1628966251.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:31.757Z,1628966251.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:31.757Z,1628966251.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:31.758Z,1628966251.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:32.169Z,1628966252.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,006B4,187,80,80,8B,FF
2021-08-14T18:37:32.169Z,1628966252.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:32.169Z,1628966252.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:32.171Z,1628966252.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:32.572Z,1628966252.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:32.973Z,1628966252.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E98,000,00684,186,80,80,78,FF
2021-08-14T18:37:32.974Z,1628966252.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:32.981Z,1628966252.981 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:37:33.409Z,1628966253.409 [Micromodem](INFO): Nmea in: $SNTTA,0.068221,,,,183734.09*4C

2021-08-14T18:37:33.450Z,1628966253.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 138.911117 deg, deltaT: 4.442512 s, approachRate: -0.648282 m/s, LOS rate: 0.264459 deg/s, posRepo size: 4
2021-08-14T18:37:33.452Z,1628966253.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.580006 m,
      bearing: 138.911117 deg,
      approachRate: -0.648282 m/s,
      LOS rate: 0.264459 deg/s,
      cmd update: 1.057835 deg/s,
      cmd heading: 137.736256 deg,
      new cmd heading: 137.736256 deg.

2021-08-14T18:37:35.843Z,1628966255.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:36.213Z,1628966256.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:36.213Z,1628966256.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:36.213Z,1628966256.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:36.214Z,1628966256.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:36.609Z,1628966256.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E98,000,00684,186,80,80,78,FF
2021-08-14T18:37:36.610Z,1628966256.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:36.610Z,1628966256.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:36.611Z,1628966256.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:37.017Z,1628966257.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:37.405Z,1628966257.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00654,189,80,80,C1,FF
2021-08-14T18:37:37.406Z,1628966257.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:37.845Z,1628966257.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183738.53*5E

2021-08-14T18:37:37.899Z,1628966257.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 144.625403 deg, deltaT: 4.448680 s, approachRate: -0.647383 m/s, LOS rate: 1.284490 deg/s, posRepo size: 4
2021-08-14T18:37:37.901Z,1628966257.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.700005 m,
      bearing: 144.625403 deg,
      approachRate: -0.647383 m/s,
      LOS rate: 1.284490 deg/s,
      cmd update: 5.137962 deg/s,
      cmd heading: 142.433832 deg,
      new cmd heading: 142.923714 deg.

2021-08-14T18:37:40.297Z,1628966260.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:40.641Z,1628966260.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:40.641Z,1628966260.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:40.641Z,1628966260.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:40.642Z,1628966260.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:41.050Z,1628966261.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00654,189,80,80,C1,FF
2021-08-14T18:37:41.050Z,1628966261.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:41.050Z,1628966261.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:41.053Z,1628966261.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:41.457Z,1628966261.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:41.871Z,1628966261.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00628,186,80,80,99,FF
2021-08-14T18:37:41.873Z,1628966261.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:42.297Z,1628966262.297 [Micromodem](INFO): Nmea in: $SNTTA,0.053148,,,,183742.97*4E

2021-08-14T18:37:42.353Z,1628966262.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.060005 m, bearing: 143.800385 deg, deltaT: 4.460437 s, approachRate: -0.591870 m/s, LOS rate: -0.184964 deg/s, posRepo size: 4
2021-08-14T18:37:42.355Z,1628966262.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.060005 m,
      bearing: 143.800385 deg,
      approachRate: -0.591870 m/s,
      LOS rate: -0.184964 deg/s,
      cmd update: -0.739854 deg/s,
      cmd heading: 165.392511 deg,
      new cmd heading: 167.697703 deg.

2021-08-14T18:37:42.732Z,1628966262.732 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:37:44.747Z,1628966264.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:45.086Z,1628966265.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:45.086Z,1628966265.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:45.086Z,1628966265.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:45.087Z,1628966265.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:45.489Z,1628966265.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00628,186,80,80,99,FF
2021-08-14T18:37:45.489Z,1628966265.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:45.489Z,1628966265.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:45.491Z,1628966265.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:45.905Z,1628966265.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:46.291Z,1628966266.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,005FC,184,80,80,81,FF
2021-08-14T18:37:46.291Z,1628966266.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:46.762Z,1628966266.762 [Micromodem](INFO): Nmea in: $SNTTA,0.050753,,,,183747.41*4F

2021-08-14T18:37:46.789Z,1628966266.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.419998 m, bearing: 140.281362 deg, deltaT: 4.423797 s, approachRate: -0.596774 m/s, LOS rate: -0.795476 deg/s, posRepo size: 4
2021-08-14T18:37:46.791Z,1628966266.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.419998 m,
      bearing: 140.281362 deg,
      approachRate: -0.596774 m/s,
      LOS rate: -0.795476 deg/s,
      cmd update: -3.181903 deg/s,
      cmd heading: 162.119577 deg,
      new cmd heading: 161.778312 deg.

2021-08-14T18:37:47.933Z,1628966267.933 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:37:49.186Z,1628966269.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:49.541Z,1628966269.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:49.541Z,1628966269.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:49.541Z,1628966269.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:49.542Z,1628966269.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:49.933Z,1628966269.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,005FC,184,80,80,81,FF
2021-08-14T18:37:49.933Z,1628966269.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:49.933Z,1628966269.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:49.935Z,1628966269.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:50.337Z,1628966270.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:50.749Z,1628966270.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,005C6,187,80,80,89,FF
2021-08-14T18:37:50.749Z,1628966270.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:51.201Z,1628966271.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183751.86*59

2021-08-14T18:37:51.223Z,1628966271.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 132.673802 deg, deltaT: 4.512168 s, approachRate: -0.718058 m/s, LOS rate: -1.686010 deg/s, posRepo size: 4
2021-08-14T18:37:51.246Z,1628966271.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.180000 m,
      bearing: 132.673802 deg,
      approachRate: -0.718058 m/s,
      LOS rate: -1.686010 deg/s,
      cmd update: -6.744040 deg/s,
      cmd heading: 147.775917 deg,
      new cmd heading: 146.541575 deg.

2021-08-14T18:37:52.782Z,1628966272.782 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:37:53.602Z,1628966273.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:53.977Z,1628966273.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:53.977Z,1628966273.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:53.977Z,1628966273.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:53.978Z,1628966273.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:54.377Z,1628966274.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,005C6,187,80,80,89,FF
2021-08-14T18:37:54.377Z,1628966274.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:54.377Z,1628966274.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:54.379Z,1628966274.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:54.785Z,1628966274.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:55.193Z,1628966275.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,0059B,189,80,80,6C,FF
2021-08-14T18:37:55.194Z,1628966275.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:37:55.631Z,1628966275.631 [Micromodem](INFO): Nmea in: $SNTTA,0.046764,,,,183756.30*4A

2021-08-14T18:37:55.723Z,1628966275.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.599995 m, bearing: 127.430074 deg, deltaT: 4.371064 s, approachRate: -0.590247 m/s, LOS rate: -1.199646 deg/s, posRepo size: 4
2021-08-14T18:37:55.730Z,1628966275.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.599995 m,
      bearing: 127.430074 deg,
      approachRate: -0.590247 m/s,
      LOS rate: -1.199646 deg/s,
      cmd update: -4.798582 deg/s,
      cmd heading: 118.268442 deg,
      new cmd heading: 114.855102 deg.

2021-08-14T18:37:58.166Z,1628966278.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:37:58.425Z,1628966278.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:37:58.425Z,1628966278.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:37:58.425Z,1628966278.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:37:58.426Z,1628966278.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:37:58.827Z,1628966278.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,0059B,189,80,80,6C,FF
2021-08-14T18:37:58.827Z,1628966278.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:37:58.827Z,1628966278.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:37:58.829Z,1628966278.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:37:59.232Z,1628966279.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:37:59.629Z,1628966279.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,00569,186,80,80,6B,FF
2021-08-14T18:37:59.629Z,1628966279.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:00.093Z,1628966280.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183800.75*5E

2021-08-14T18:38:00.173Z,1628966280.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 135.223170 deg, deltaT: 4.440319 s, approachRate: -0.675626 m/s, LOS rate: 1.755076 deg/s, posRepo size: 4
2021-08-14T18:38:00.175Z,1628966280.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.599998 m,
      bearing: 135.223170 deg,
      approachRate: -0.675626 m/s,
      LOS rate: 1.755076 deg/s,
      cmd update: 7.020302 deg/s,
      cmd heading: 96.961134 deg,
      new cmd heading: 94.533580 deg.

2021-08-14T18:38:02.187Z,1628966282.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:02.461Z,1628966282.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:02.461Z,1628966282.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:02.461Z,1628966282.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:02.462Z,1628966282.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:02.861Z,1628966282.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,00569,186,80,80,6B,FF
2021-08-14T18:38:02.861Z,1628966282.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:02.861Z,1628966282.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:02.863Z,1628966282.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:02.920Z,1628966282.920 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:38:03.276Z,1628966283.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:03.685Z,1628966283.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00541,185,80,80,98,FF
2021-08-14T18:38:03.686Z,1628966283.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:04.133Z,1628966284.133 [Micromodem](INFO): Nmea in: $SNTTA,0.046977,,,,183804.78*42

2021-08-14T18:38:04.182Z,1628966284.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 135.827806 deg, deltaT: 4.130311 s, approachRate: -0.581069 m/s, LOS rate: 0.146390 deg/s, posRepo size: 4
2021-08-14T18:38:04.184Z,1628966284.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.200001 m,
      bearing: 135.827806 deg,
      approachRate: -0.581069 m/s,
      LOS rate: 0.146390 deg/s,
      cmd update: 0.585559 deg/s,
      cmd heading: 125.876356 deg,
      new cmd heading: 128.765807 deg.

2021-08-14T18:38:06.553Z,1628966286.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:06.909Z,1628966286.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:06.909Z,1628966286.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:06.909Z,1628966286.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:06.910Z,1628966286.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:07.309Z,1628966287.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00541,185,80,80,98,FF
2021-08-14T18:38:07.309Z,1628966287.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:07.309Z,1628966287.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:07.311Z,1628966287.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:07.772Z,1628966287.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:07.799Z,1628966287.799 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T18:38:08.129Z,1628966288.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,00511,186,80,80,9B,FF
2021-08-14T18:38:08.130Z,1628966288.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:08.553Z,1628966288.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183809.23*54

2021-08-14T18:38:08.587Z,1628966288.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 136.732246 deg, deltaT: 4.405390 s, approachRate: -0.653746 m/s, LOS rate: 0.205303 deg/s, posRepo size: 4
2021-08-14T18:38:08.594Z,1628966288.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.319996 m,
      bearing: 136.732246 deg,
      approachRate: -0.653746 m/s,
      LOS rate: 0.205303 deg/s,
      cmd update: 0.821212 deg/s,
      cmd heading: 128.462698 deg,
      new cmd heading: 128.697203 deg.

2021-08-14T18:38:10.986Z,1628966290.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:11.353Z,1628966291.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:11.354Z,1628966291.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:11.354Z,1628966291.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:11.355Z,1628966291.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:11.762Z,1628966291.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,00511,186,80,80,9B,FF
2021-08-14T18:38:11.762Z,1628966291.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:11.762Z,1628966291.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:11.764Z,1628966291.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:12.239Z,1628966292.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:12.625Z,1628966292.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,004E3,185,80,80,B9,FF
2021-08-14T18:38:12.626Z,1628966292.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:13.043Z,1628966293.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183813.69*51

2021-08-14T18:38:13.063Z,1628966293.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 134.387059 deg, deltaT: 4.543807 s, approachRate: -0.607420 m/s, LOS rate: -0.516128 deg/s, posRepo size: 4
2021-08-14T18:38:13.064Z,1628966293.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.56 m.
2021-08-14T18:38:13.065Z,1628966293.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.56 m.
2021-08-14T18:38:13.065Z,1628966293.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T18:38:13.067Z,1628966293.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.559998 m,
      bearing: 134.387059 deg,
      approachRate: -0.607420 m/s,
      LOS rate: -0.516128 deg/s,
      cmd update: -2.064512 deg/s,
      cmd heading: 132.182364 deg,
      new cmd heading: 132.467412 deg.

2021-08-14T18:38:13.473Z,1628966293.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:38:13.473Z,1628966293.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:38:13.473Z,1628966293.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:38:13.474Z,1628966293.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:38:13.474Z,1628966293.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:38:13.474Z,1628966293.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:38:13.875Z,1628966293.875 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:38:13.892Z,1628966293.892 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:38:13.892Z,1628966293.892 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:38:13.892Z,1628966293.892 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:38:15.480Z,1628966295.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:15.865Z,1628966295.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:15.865Z,1628966295.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:15.866Z,1628966295.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:15.867Z,1628966295.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:16.265Z,1628966296.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,004E3,185,80,80,B9,FF
2021-08-14T18:38:16.265Z,1628966296.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:16.265Z,1628966296.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:16.267Z,1628966296.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:16.684Z,1628966296.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:17.073Z,1628966297.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,004B6,186,80,80,7E,FF
2021-08-14T18:38:17.074Z,1628966297.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:17.094Z,1628966297.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:17.523Z,1628966297.523 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183818.19*5D

2021-08-14T18:38:17.548Z,1628966297.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 131.043641 deg, deltaT: 4.360342 s, approachRate: -0.619218 m/s, LOS rate: -0.766779 deg/s, posRepo size: 4
2021-08-14T18:38:17.557Z,1628966297.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.859997 m,
      bearing: 131.043641 deg,
      approachRate: -0.619218 m/s,
      LOS rate: -0.766779 deg/s,
      cmd update: -3.067116 deg/s,
      cmd heading: 123.151310 deg,
      new cmd heading: 122.206993 deg.

2021-08-14T18:38:17.907Z,1628966297.907 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:38:19.943Z,1628966299.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:20.305Z,1628966300.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:20.305Z,1628966300.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:20.305Z,1628966300.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:20.306Z,1628966300.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:20.806Z,1628966300.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,004B6,186,80,80,7E,FF
2021-08-14T18:38:20.806Z,1628966300.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:20.806Z,1628966300.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:20.808Z,1628966300.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:21.268Z,1628966301.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:21.709Z,1628966301.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0047E,187,80,80,B1,FF
2021-08-14T18:38:21.709Z,1628966301.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:21.772Z,1628966301.772 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:22.137Z,1628966302.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183822.73*58

2021-08-14T18:38:22.193Z,1628966302.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 131.814482 deg, deltaT: 4.678562 s, approachRate: -0.718169 m/s, LOS rate: 0.164760 deg/s, posRepo size: 4
2021-08-14T18:38:22.195Z,1628966302.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.500000 m,
      bearing: 131.814482 deg,
      approachRate: -0.718169 m/s,
      LOS rate: 0.164760 deg/s,
      cmd update: 0.659041 deg/s,
      cmd heading: 108.827054 deg,
      new cmd heading: 107.502106 deg.

2021-08-14T18:38:22.905Z,1628966302.905 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:38:24.541Z,1628966304.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:24.918Z,1628966304.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:24.918Z,1628966304.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:24.919Z,1628966304.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:24.920Z,1628966304.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:25.309Z,1628966305.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,0047E,187,80,80,B1,FF
2021-08-14T18:38:25.309Z,1628966305.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:25.309Z,1628966305.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:25.311Z,1628966305.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:25.881Z,1628966305.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:26.147Z,1628966306.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,00455,187,80,80,7E,FF
2021-08-14T18:38:26.162Z,1628966306.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:26.165Z,1628966306.165 [Micromodem](INFO): Nmea in: $SNTTA,0.307523,0.307517,,,183827.24*58

2021-08-14T18:38:26.225Z,1628966306.225 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:26.567Z,1628966306.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 137.720547 deg, deltaT: 4.452469 s, approachRate: -0.552502 m/s, LOS rate: 1.326470 deg/s, posRepo size: 4
2021-08-14T18:38:26.582Z,1628966306.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.040001 m,
      bearing: 137.720547 deg,
      approachRate: -0.552502 m/s,
      LOS rate: 1.326470 deg/s,
      cmd update: 5.305878 deg/s,
      cmd heading: 111.764226 deg,
      new cmd heading: 111.994711 deg.

2021-08-14T18:38:29.009Z,1628966309.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:29.349Z,1628966309.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:29.349Z,1628966309.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:29.349Z,1628966309.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:29.350Z,1628966309.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:29.757Z,1628966309.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,00455,187,80,80,7E,FF
2021-08-14T18:38:29.758Z,1628966309.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:29.758Z,1628966309.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:29.761Z,1628966309.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:30.169Z,1628966310.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:30.570Z,1628966310.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00428,186,80,80,91,FF
2021-08-14T18:38:30.570Z,1628966310.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:30.648Z,1628966310.648 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:31.013Z,1628966311.013 [Micromodem](INFO): Nmea in: $SNTTA,,0.435282,,,183831.68*44

2021-08-14T18:38:31.068Z,1628966311.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 132.307294 deg, deltaT: 4.423070 s, approachRate: -0.610436 m/s, LOS rate: -1.223868 deg/s, posRepo size: 4
2021-08-14T18:38:31.070Z,1628966311.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.340000 m,
      bearing: 132.307294 deg,
      approachRate: -0.610436 m/s,
      LOS rate: -1.223868 deg/s,
      cmd update: -4.895471 deg/s,
      cmd heading: 135.196072 deg,
      new cmd heading: 137.475276 deg.

2021-08-14T18:38:33.431Z,1628966313.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:33.802Z,1628966313.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:33.802Z,1628966313.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:33.802Z,1628966313.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:33.803Z,1628966313.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:34.201Z,1628966314.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00428,186,80,80,91,FF
2021-08-14T18:38:34.201Z,1628966314.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:34.201Z,1628966314.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:34.203Z,1628966314.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:34.608Z,1628966314.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:35.005Z,1628966315.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,003FB,183,80,80,5B,FF
2021-08-14T18:38:35.005Z,1628966315.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:35.064Z,1628966315.064 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:35.458Z,1628966315.458 [Micromodem](INFO): Nmea in: $SNTTA,0.039050,,,,183836.13*4A

2021-08-14T18:38:35.485Z,1628966315.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 128.509026 deg, deltaT: 4.416016 s, approachRate: -0.611411 m/s, LOS rate: -0.860112 deg/s, posRepo size: 4
2021-08-14T18:38:35.487Z,1628966315.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 128.509026 deg,
      approachRate: -0.611411 m/s,
      LOS rate: -0.860112 deg/s,
      cmd update: -3.440448 deg/s,
      cmd heading: 113.564459 deg,
      new cmd heading: 111.448940 deg.

2021-08-14T18:38:37.843Z,1628966317.843 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:38:37.894Z,1628966317.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:38.241Z,1628966318.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:38.241Z,1628966318.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:38.241Z,1628966318.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:38.241Z,1628966318.241 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:38.645Z,1628966318.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,003FB,183,80,80,5B,FF
2021-08-14T18:38:38.645Z,1628966318.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:38.646Z,1628966318.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:38.647Z,1628966318.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:39.060Z,1628966319.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:39.453Z,1628966319.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,003C4,184,80,80,AE,FF
2021-08-14T18:38:39.453Z,1628966319.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:39.478Z,1628966319.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:39.897Z,1628966319.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183840.57*5A

2021-08-14T18:38:39.923Z,1628966319.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 130.398557 deg, deltaT: 4.413974 s, approachRate: -0.747625 m/s, LOS rate: 0.428079 deg/s, posRepo size: 4
2021-08-14T18:38:39.945Z,1628966319.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.339998 m,
      bearing: 130.398557 deg,
      approachRate: -0.747625 m/s,
      LOS rate: 0.428079 deg/s,
      cmd update: 1.712317 deg/s,
      cmd heading: 98.365438 deg,
      new cmd heading: 96.808625 deg.

2021-08-14T18:38:42.333Z,1628966322.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:42.723Z,1628966322.723 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:42.735Z,1628966322.735 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:42.735Z,1628966322.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:42.736Z,1628966322.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:42.785Z,1628966322.785 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:38:43.089Z,1628966323.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,003C4,184,80,80,AE,FF
2021-08-14T18:38:43.089Z,1628966323.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:43.089Z,1628966323.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:43.091Z,1628966323.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:43.493Z,1628966323.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:43.893Z,1628966323.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00393,188,80,80,9A,FF
2021-08-14T18:38:43.893Z,1628966323.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:43.964Z,1628966323.964 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:44.347Z,1628966324.347 [Micromodem](INFO): Nmea in: $SNTTA,0.074547,,,,183845.01*47

2021-08-14T18:38:44.444Z,1628966324.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 140.225887 deg, deltaT: 4.486035 s, approachRate: -0.655366 m/s, LOS rate: 2.190650 deg/s, posRepo size: 4
2021-08-14T18:38:44.446Z,1628966324.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 140.225887 deg,
      approachRate: -0.655366 m/s,
      LOS rate: 2.190650 deg/s,
      cmd update: 8.762598 deg/s,
      cmd heading: 106.051541 deg,
      new cmd heading: 106.874258 deg.

2021-08-14T18:38:45.929Z,1628966325.929 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:38:46.774Z,1628966326.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:47.129Z,1628966327.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:47.129Z,1628966327.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:47.129Z,1628966327.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:47.130Z,1628966327.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:47.526Z,1628966327.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00393,188,80,80,9A,FF
2021-08-14T18:38:47.526Z,1628966327.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:47.526Z,1628966327.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:47.533Z,1628966327.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:47.942Z,1628966327.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:48.350Z,1628966328.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,00368,18A,80,80,83,FF
2021-08-14T18:38:48.350Z,1628966328.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:48.441Z,1628966328.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:48.799Z,1628966328.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.820001 m, bearing: 134.821049 deg, deltaT: 4.477116 s, approachRate: -0.576264 m/s, LOS rate: -1.207214 deg/s, posRepo size: 4
2021-08-14T18:38:48.801Z,1628966328.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 134.821049 deg,
      approachRate: -0.576264 m/s,
      LOS rate: -1.207214 deg/s,
      cmd update: -4.828857 deg/s,
      cmd heading: 145.203724 deg,
      new cmd heading: 148.457969 deg.

2021-08-14T18:38:51.191Z,1628966331.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:51.573Z,1628966331.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:51.573Z,1628966331.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:51.573Z,1628966331.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:51.574Z,1628966331.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:51.973Z,1628966331.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,00368,18A,80,80,83,FF
2021-08-14T18:38:51.973Z,1628966331.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:51.973Z,1628966331.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:51.975Z,1628966331.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:52.384Z,1628966332.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:52.793Z,1628966332.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,00340,186,80,80,A9,FF
2021-08-14T18:38:52.793Z,1628966332.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:52.824Z,1628966332.824 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:53.225Z,1628966333.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183853.90*53

2021-08-14T18:38:53.252Z,1628966333.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 131.883713 deg, deltaT: 4.382772 s, approachRate: -0.547599 m/s, LOS rate: -0.670201 deg/s, posRepo size: 4
2021-08-14T18:38:53.255Z,1628966333.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.419999 m,
      bearing: 131.883713 deg,
      approachRate: -0.547599 m/s,
      LOS rate: -0.670201 deg/s,
      cmd update: -2.680803 deg/s,
      cmd heading: 123.989678 deg,
      new cmd heading: 121.927684 deg.

2021-08-14T18:38:55.627Z,1628966335.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:38:56.010Z,1628966336.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:38:56.010Z,1628966336.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:38:56.011Z,1628966336.011 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:38:56.012Z,1628966336.012 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:38:56.421Z,1628966336.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,00340,186,80,80,A9,FF
2021-08-14T18:38:56.422Z,1628966336.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:38:56.422Z,1628966336.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:38:56.423Z,1628966336.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:38:56.829Z,1628966336.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:38:57.221Z,1628966337.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00311,183,80,80,7C,FF
2021-08-14T18:38:57.221Z,1628966337.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:38:57.243Z,1628966337.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:38:57.673Z,1628966337.673 [Micromodem](INFO): Nmea in: $SNTTA,0.008555,,,,183858.35*44

2021-08-14T18:38:57.766Z,1628966337.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 130.167068 deg, deltaT: 4.420433 s, approachRate: -0.637947 m/s, LOS rate: -0.388343 deg/s, posRepo size: 4
2021-08-14T18:38:57.768Z,1628966337.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 130.167068 deg,
      approachRate: -0.637947 m/s,
      LOS rate: -0.388343 deg/s,
      cmd update: -1.553373 deg/s,
      cmd heading: 112.144919 deg,
      new cmd heading: 110.731748 deg.

2021-08-14T18:39:00.153Z,1628966340.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:00.461Z,1628966340.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:00.461Z,1628966340.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:00.461Z,1628966340.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:00.462Z,1628966340.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:00.861Z,1628966340.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00311,183,80,80,7C,FF
2021-08-14T18:39:00.861Z,1628966340.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:00.862Z,1628966340.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:00.863Z,1628966340.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:01.265Z,1628966341.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:01.680Z,1628966341.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,002FD,186,80,80,BD,FF
2021-08-14T18:39:01.682Z,1628966341.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:01.757Z,1628966341.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:02.141Z,1628966342.141 [Micromodem](INFO): Nmea in: $SNTTA,0.041227,,,,183902.79*4D

2021-08-14T18:39:02.190Z,1628966342.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 131.647935 deg, deltaT: 4.512804 s, approachRate: -0.265910 m/s, LOS rate: 0.328148 deg/s, posRepo size: 4
2021-08-14T18:39:02.192Z,1628966342.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 131.647935 deg,
      approachRate: -0.265910 m/s,
      LOS rate: 0.328148 deg/s,
      cmd update: 1.312591 deg/s,
      cmd heading: 105.137274 deg,
      new cmd heading: 104.454235 deg.

2021-08-14T18:39:04.547Z,1628966344.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:04.909Z,1628966344.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:04.909Z,1628966344.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:04.909Z,1628966344.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:04.910Z,1628966344.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:05.301Z,1628966345.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,002FD,186,80,80,BD,FF
2021-08-14T18:39:05.301Z,1628966345.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:05.301Z,1628966345.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:05.303Z,1628966345.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:05.744Z,1628966345.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:06.125Z,1628966346.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,002C5,185,80,80,59,FF
2021-08-14T18:39:06.126Z,1628966346.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:06.218Z,1628966346.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:06.573Z,1628966346.573 [Micromodem](INFO): Nmea in: $SNTTA,0.034358,,,,183907.23*4C

2021-08-14T18:39:06.596Z,1628966346.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 90.921737 deg, deltaT: 4.460854 s, approachRate: -0.753219 m/s, LOS rate: -9.129687 deg/s, posRepo size: 4
2021-08-14T18:39:06.598Z,1628966346.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 90.921737 deg,
      approachRate: -0.753219 m/s,
      LOS rate: -9.129687 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 110.997779 deg,
      new cmd heading: 111.497542 deg.

2021-08-14T18:39:08.985Z,1628966348.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:09.345Z,1628966349.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:09.345Z,1628966349.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:09.345Z,1628966349.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:09.346Z,1628966349.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:09.761Z,1628966349.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,002C5,185,80,80,59,FF
2021-08-14T18:39:09.761Z,1628966349.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:09.761Z,1628966349.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:09.763Z,1628966349.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:10.170Z,1628966350.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:10.577Z,1628966350.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,002B9,18A,80,80,79,FF
2021-08-14T18:39:10.578Z,1628966350.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:10.619Z,1628966350.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:10.989Z,1628966350.989 [Micromodem](INFO): Nmea in: $SNTTA,0.028410,,,,183911.68*42

2021-08-14T18:39:11.042Z,1628966351.042 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T18:39:11.042Z,1628966351.042 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T18:39:11.042Z,1628966351.042 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T18:39:11.042Z,1628966351.042 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T18:39:11.043Z,1628966351.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T18:39:11.043Z,1628966351.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-08-14T18:39:11.043Z,1628966351.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T18:39:11.043Z,1628966351.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T18:39:11.043Z,1628966351.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T18:39:11.046Z,1628966351.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 73.765770 deg, deltaT: 4.400600 s, approachRate: -0.163614 m/s, LOS rate: -3.898552 deg/s, posRepo size: 4
2021-08-14T18:39:11.048Z,1628966351.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 73.765770 deg,
      approachRate: -0.163614 m/s,
      LOS rate: -3.898552 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 58.190589 deg,
      new cmd heading: 53.022741 deg.

2021-08-14T18:39:11.410Z,1628966351.410 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T183911: (41.552319, -70.708603)
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T18:39:11.411Z,1628966351.411 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T18:39:11.811Z,1628966351.811 [UniversalFixResidualReporter](INFO): Fix residual: 2.5 %DT, over the last 1607.0 m. Residual distance 40.2 m at bearing 97.5 degrees. Fix at (41.5530, -70.7046) with 0.0 m made good.
2021-08-14T18:39:13.407Z,1628966353.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:13.797Z,1628966353.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:13.797Z,1628966353.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:13.797Z,1628966353.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:13.797Z,1628966353.797 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:14.193Z,1628966354.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,002B9,18A,80,80,79,FF
2021-08-14T18:39:14.193Z,1628966354.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:14.193Z,1628966354.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:14.195Z,1628966354.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:14.613Z,1628966354.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:15.001Z,1628966355.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,002C1,186,80,80,A2,FF
2021-08-14T18:39:15.001Z,1628966355.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:15.068Z,1628966355.068 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:15.453Z,1628966355.453 [Micromodem](INFO): Nmea in: $SNTTA,0.029531,,,,183916.12*4B

2021-08-14T18:39:15.475Z,1628966355.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 118.035819 deg, deltaT: 4.449708 s, approachRate: 0.107872 m/s, LOS rate: 9.948978 deg/s, posRepo size: 4
2021-08-14T18:39:15.478Z,1628966355.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 118.035819 deg,
      approachRate: 0.107872 m/s,
      LOS rate: 9.948978 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.940060 deg,
      new cmd heading: 359.870408 deg.

2021-08-14T18:39:17.875Z,1628966357.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:18.241Z,1628966358.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:18.241Z,1628966358.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:18.241Z,1628966358.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:18.242Z,1628966358.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:18.644Z,1628966358.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,002C1,186,80,80,A2,FF
2021-08-14T18:39:18.645Z,1628966358.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:18.645Z,1628966358.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:18.646Z,1628966358.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:19.050Z,1628966359.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:19.453Z,1628966359.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F99,000,002BE,187,80,80,C4,FF
2021-08-14T18:39:19.453Z,1628966359.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:19.502Z,1628966359.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:19.893Z,1628966359.893 [Micromodem](INFO): Nmea in: $SNTTA,0.020476,,,,183920.57*44

2021-08-14T18:39:19.923Z,1628966359.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 134.651975 deg, deltaT: 4.433743 s, approachRate: -0.040598 m/s, LOS rate: 3.747659 deg/s, posRepo size: 4
2021-08-14T18:39:19.950Z,1628966359.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 134.651975 deg,
      approachRate: -0.040598 m/s,
      LOS rate: 3.747659 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.274841 deg,
      new cmd heading: 63.386133 deg.

2021-08-14T18:39:22.325Z,1628966362.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:22.688Z,1628966362.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:22.689Z,1628966362.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:22.689Z,1628966362.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:22.691Z,1628966362.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:23.074Z,1628966363.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F99,000,002BE,187,80,80,C4,FF
2021-08-14T18:39:23.074Z,1628966363.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:23.074Z,1628966363.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:23.098Z,1628966363.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:23.486Z,1628966363.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:23.890Z,1628966363.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,002D6,184,80,80,A1,FF
2021-08-14T18:39:23.890Z,1628966363.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:23.921Z,1628966363.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:24.333Z,1628966364.333 [Micromodem](INFO): Nmea in: $SNTTA,0.003666,,,,183925.02*43

2021-08-14T18:39:24.386Z,1628966364.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 133.170889 deg, deltaT: 4.418599 s, approachRate: 0.325895 m/s, LOS rate: -0.335193 deg/s, posRepo size: 4
2021-08-14T18:39:24.388Z,1628966364.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 133.170889 deg,
      approachRate: 0.325895 m/s,
      LOS rate: -0.335193 deg/s,
      cmd update: -1.340774 deg/s,
      cmd heading: 111.314494 deg,
      new cmd heading: 116.932918 deg.

2021-08-14T18:39:26.790Z,1628966366.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:27.117Z,1628966367.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:27.117Z,1628966367.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:27.117Z,1628966367.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:27.118Z,1628966367.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:27.526Z,1628966367.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,002D6,184,80,80,A1,FF
2021-08-14T18:39:27.526Z,1628966367.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:27.526Z,1628966367.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:27.529Z,1628966367.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:27.922Z,1628966367.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:28.341Z,1628966368.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00311,186,80,80,78,FF
2021-08-14T18:39:28.342Z,1628966368.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:28.399Z,1628966368.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:28.777Z,1628966368.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183929.46*54

2021-08-14T18:39:28.826Z,1628966368.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 136.493175 deg, deltaT: 4.478161 s, approachRate: 0.790503 m/s, LOS rate: 0.741886 deg/s, posRepo size: 4
2021-08-14T18:39:28.828Z,1628966368.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 136.493175 deg,
      approachRate: 0.790503 m/s,
      LOS rate: 0.741886 deg/s,
      cmd update: 2.967545 deg/s,
      cmd heading: 105.310372 deg,
      new cmd heading: 104.733456 deg.

2021-08-14T18:39:31.176Z,1628966371.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:31.581Z,1628966371.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:31.581Z,1628966371.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:31.581Z,1628966371.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:31.582Z,1628966371.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:31.969Z,1628966371.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00311,186,80,80,78,FF
2021-08-14T18:39:31.969Z,1628966371.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:31.969Z,1628966371.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:31.971Z,1628966371.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:32.419Z,1628966372.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:32.806Z,1628966372.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,00325,187,80,80,8B,FF
2021-08-14T18:39:32.806Z,1628966372.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:32.869Z,1628966372.869 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:33.229Z,1628966373.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183933.90*54

2021-08-14T18:39:33.259Z,1628966373.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 129.899652 deg, deltaT: 4.470645 s, approachRate: 0.268418 m/s, LOS rate: -1.474848 deg/s, posRepo size: 4
2021-08-14T18:39:33.262Z,1628966373.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 129.899652 deg,
      approachRate: 0.268418 m/s,
      LOS rate: -1.474848 deg/s,
      cmd update: -5.899393 deg/s,
      cmd heading: 118.565359 deg,
      new cmd heading: 119.744059 deg.

2021-08-14T18:39:35.832Z,1628966375.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:36.064Z,1628966376.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:36.065Z,1628966376.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:36.065Z,1628966376.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:36.066Z,1628966376.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:36.445Z,1628966376.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,00325,187,80,80,8B,FF
2021-08-14T18:39:36.445Z,1628966376.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:36.445Z,1628966376.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:36.447Z,1628966376.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:36.861Z,1628966376.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:37.253Z,1628966377.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00351,186,80,80,7F,FF
2021-08-14T18:39:37.254Z,1628966377.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:37.307Z,1628966377.307 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:37.717Z,1628966377.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183938.37*52

2021-08-14T18:39:37.775Z,1628966377.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 130.382779 deg, deltaT: 4.442022 s, approachRate: 0.594323 m/s, LOS rate: 0.108763 deg/s, posRepo size: 4
2021-08-14T18:39:37.777Z,1628966377.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.44 m. Rolling out.
2021-08-14T18:39:37.777Z,1628966377.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T18:39:40.171Z,1628966380.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:40.485Z,1628966380.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:40.485Z,1628966380.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:40.485Z,1628966380.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:40.486Z,1628966380.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:40.885Z,1628966380.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00351,186,80,80,7F,FF
2021-08-14T18:39:40.885Z,1628966380.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:40.885Z,1628966380.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:40.887Z,1628966380.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:41.304Z,1628966381.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:41.733Z,1628966381.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00380,186,80,80,6F,FF
2021-08-14T18:39:41.733Z,1628966381.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:41.788Z,1628966381.788 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:42.150Z,1628966382.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183942.81*52

2021-08-14T18:39:42.210Z,1628966382.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 120.545326 deg, deltaT: 4.476593 s, approachRate: 0.629944 m/s, LOS rate: -2.197531 deg/s, posRepo size: 4
2021-08-14T18:39:43.761Z,1628966383.761 [PowerOnly](INFO): Powering down loadControl
2021-08-14T18:39:44.560Z,1628966384.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:44.921Z,1628966384.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:44.921Z,1628966384.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:44.921Z,1628966384.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:44.922Z,1628966384.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:45.345Z,1628966385.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00380,186,80,80,6F,FF
2021-08-14T18:39:45.345Z,1628966385.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:45.345Z,1628966385.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:45.347Z,1628966385.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:45.748Z,1628966385.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:46.558Z,1628966386.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183947.27*5B

2021-08-14T18:39:47.349Z,1628966387.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,036D8,187,80,80,3C,FF
2021-08-14T18:39:47.349Z,1628966387.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:47.370Z,1628966387.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:47.861Z,1628966387.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 804.900085 m, bearing: 104.869126 deg, deltaT: 5.582342 s, approachRate: 141.274048 m/s, LOS rate: -2.808176 deg/s, posRepo size: 4
2021-08-14T18:39:48.221Z,1628966388.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:39:48.221Z,1628966388.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:39:48.222Z,1628966388.222 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:39:48.222Z,1628966388.222 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:39:48.222Z,1628966388.222 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:39:48.223Z,1628966388.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:39:48.609Z,1628966388.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:39:48.609Z,1628966388.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:39:48.609Z,1628966388.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:39:48.609Z,1628966388.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:39:50.233Z,1628966390.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:50.585Z,1628966390.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:50.585Z,1628966390.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:50.585Z,1628966390.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:50.586Z,1628966390.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:50.997Z,1628966390.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,036D8,187,80,80,3C,FF
2021-08-14T18:39:50.997Z,1628966390.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:50.998Z,1628966390.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:50.999Z,1628966390.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:51.485Z,1628966391.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:51.809Z,1628966391.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,003DA,189,80,80,5A,FF
2021-08-14T18:39:51.809Z,1628966391.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:52.253Z,1628966392.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183952.92*51

2021-08-14T18:39:52.313Z,1628966392.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 66.361961 deg, deltaT: 4.490349 s, approachRate: -174.427444 m/s, LOS rate: -8.575540 deg/s, posRepo size: 4
2021-08-14T18:39:52.694Z,1628966392.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:39:52.694Z,1628966392.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:39:52.695Z,1628966392.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:39:52.697Z,1628966392.697 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:39:52.698Z,1628966392.698 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:39:52.698Z,1628966392.698 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:39:53.067Z,1628966393.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:39:53.067Z,1628966393.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:39:53.067Z,1628966393.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:39:53.067Z,1628966393.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:39:54.710Z,1628966394.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:55.041Z,1628966395.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:55.041Z,1628966395.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:55.041Z,1628966395.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:55.042Z,1628966395.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:55.442Z,1628966395.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,003DA,189,80,80,5A,FF
2021-08-14T18:39:55.442Z,1628966395.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:55.442Z,1628966395.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:55.444Z,1628966395.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:39:55.859Z,1628966395.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:39:56.253Z,1628966396.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,00404,18A,80,80,80,FF
2021-08-14T18:39:56.253Z,1628966396.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:39:56.333Z,1628966396.333 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:39:56.721Z,1628966396.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183957.37*5B

2021-08-14T18:39:56.756Z,1628966396.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 60.752846 deg, deltaT: 4.472664 s, approachRate: 0.563423 m/s, LOS rate: -1.254088 deg/s, posRepo size: 4
2021-08-14T18:39:59.114Z,1628966399.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:39:59.481Z,1628966399.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:39:59.481Z,1628966399.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:39:59.481Z,1628966399.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:39:59.482Z,1628966399.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:39:59.886Z,1628966399.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,00404,18A,80,80,80,FF
2021-08-14T18:39:59.886Z,1628966399.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:39:59.886Z,1628966399.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:39:59.889Z,1628966399.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:00.293Z,1628966400.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:01.133Z,1628966401.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,02044,185,80,80,7E,FF
2021-08-14T18:40:01.133Z,1628966401.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:01.136Z,1628966401.136 [Micromodem](INFO): Nmea in: $SNTTA,0.026922,,,,184001.81*48

2021-08-14T18:40:01.154Z,1628966401.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:40:01.563Z,1628966401.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 458.099976 m, bearing: 82.364903 deg, deltaT: 4.820962 s, approachRate: 90.006927 m/s, LOS rate: 4.482934 deg/s, posRepo size: 4
2021-08-14T18:40:01.942Z,1628966401.942 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:40:01.942Z,1628966401.942 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:40:01.943Z,1628966401.943 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:40:01.946Z,1628966401.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:40:01.946Z,1628966401.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:40:01.946Z,1628966401.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:40:02.391Z,1628966402.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:40:02.391Z,1628966402.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:40:02.391Z,1628966402.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:40:02.391Z,1628966402.391 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:40:04.007Z,1628966404.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:04.329Z,1628966404.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:04.329Z,1628966404.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:04.330Z,1628966404.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:04.331Z,1628966404.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:04.765Z,1628966404.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,02044,185,80,80,7E,FF
2021-08-14T18:40:04.766Z,1628966404.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:04.766Z,1628966404.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:04.793Z,1628966404.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:05.136Z,1628966405.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:05.545Z,1628966405.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,0045D,187,80,80,63,FF
2021-08-14T18:40:05.546Z,1628966405.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:05.967Z,1628966405.967 [Micromodem](INFO): Nmea in: $SNTTA,0.034238,,,,184006.72*40

2021-08-14T18:40:06.076Z,1628966406.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 72.617875 deg, deltaT: 4.461750 s, approachRate: -96.056480 m/s, LOS rate: -2.184575 deg/s, posRepo size: 4
2021-08-14T18:40:06.437Z,1628966406.437 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:40:06.437Z,1628966406.437 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:40:06.437Z,1628966406.437 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:40:06.439Z,1628966406.439 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:40:06.439Z,1628966406.439 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:40:06.439Z,1628966406.439 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:40:06.806Z,1628966406.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:40:06.807Z,1628966406.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:40:06.807Z,1628966406.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:40:06.807Z,1628966406.807 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:40:08.421Z,1628966408.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:08.777Z,1628966408.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:08.777Z,1628966408.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:08.777Z,1628966408.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:08.778Z,1628966408.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:09.189Z,1628966409.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,0045D,187,80,80,63,FF
2021-08-14T18:40:09.189Z,1628966409.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:09.189Z,1628966409.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:09.191Z,1628966409.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:09.585Z,1628966409.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:09.981Z,1628966409.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00488,186,80,80,6E,FF
2021-08-14T18:40:09.982Z,1628966409.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:10.042Z,1628966410.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:40:10.417Z,1628966410.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184011.11*53

2021-08-14T18:40:10.500Z,1628966410.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 80.770901 deg, deltaT: 4.431507 s, approachRate: 0.582195 m/s, LOS rate: 1.839786 deg/s, posRepo size: 4
2021-08-14T18:40:12.881Z,1628966412.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:13.213Z,1628966413.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:13.213Z,1628966413.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:13.213Z,1628966413.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:13.214Z,1628966413.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:13.626Z,1628966413.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00488,186,80,80,6E,FF
2021-08-14T18:40:13.626Z,1628966413.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:13.626Z,1628966413.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:13.628Z,1628966413.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:14.068Z,1628966414.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:14.425Z,1628966414.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,004B5,186,80,80,46,FF
2021-08-14T18:40:14.426Z,1628966414.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:14.445Z,1628966414.445 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:40:14.877Z,1628966414.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184015.55*57

2021-08-14T18:40:14.919Z,1628966414.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 77.678847 deg, deltaT: 4.397668 s, approachRate: 0.613962 m/s, LOS rate: -0.703112 deg/s, posRepo size: 4
2021-08-14T18:40:17.270Z,1628966417.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:17.672Z,1628966417.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:17.673Z,1628966417.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:17.674Z,1628966417.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:17.675Z,1628966417.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:18.117Z,1628966418.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,004B5,186,80,80,46,FF
2021-08-14T18:40:18.117Z,1628966418.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:18.117Z,1628966418.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:18.119Z,1628966418.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:18.534Z,1628966418.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:18.938Z,1628966418.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,004E4,183,80,80,87,FF
2021-08-14T18:40:18.938Z,1628966418.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:18.953Z,1628966418.953 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:40:18.968Z,1628966418.968 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:40:19.365Z,1628966419.365 [Micromodem](INFO): Nmea in: $SNTTA,0.349341,,,,184020.04*43

2021-08-14T18:40:19.420Z,1628966419.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 97.397753 deg, deltaT: 4.523149 s, approachRate: 0.623460 m/s, LOS rate: 4.359553 deg/s, posRepo size: 4
2021-08-14T18:40:21.829Z,1628966421.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:22.165Z,1628966422.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:22.165Z,1628966422.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:22.165Z,1628966422.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:22.166Z,1628966422.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:22.577Z,1628966422.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,004E4,183,80,80,87,FF
2021-08-14T18:40:22.578Z,1628966422.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:22.578Z,1628966422.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:22.579Z,1628966422.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:22.977Z,1628966422.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:23.387Z,1628966423.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00513,185,80,80,40,FF
2021-08-14T18:40:23.387Z,1628966423.387 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:23.407Z,1628966423.407 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:40:23.821Z,1628966423.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184024.51*51

2021-08-14T18:40:23.867Z,1628966423.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 94.057558 deg, deltaT: 4.438640 s, approachRate: 0.635329 m/s, LOS rate: -0.752527 deg/s, posRepo size: 4
2021-08-14T18:40:24.233Z,1628966424.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:40:24.233Z,1628966424.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:40:24.234Z,1628966424.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:40:24.234Z,1628966424.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:40:24.234Z,1628966424.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:40:24.234Z,1628966424.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:40:24.613Z,1628966424.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:40:24.613Z,1628966424.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:40:24.613Z,1628966424.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:40:24.613Z,1628966424.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:40:26.243Z,1628966426.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:26.609Z,1628966426.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:26.609Z,1628966426.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:26.609Z,1628966426.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:26.610Z,1628966426.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:27.013Z,1628966427.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00513,185,80,80,40,FF
2021-08-14T18:40:27.013Z,1628966427.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:27.013Z,1628966427.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:27.015Z,1628966427.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:27.428Z,1628966427.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:27.853Z,1628966427.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00539,187,80,80,6A,FF
2021-08-14T18:40:27.853Z,1628966427.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:28.265Z,1628966428.265 [Micromodem](INFO): Nmea in: $SNTTA,0.478533,,,,184028.94*44

2021-08-14T18:40:28.330Z,1628966428.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 100.883492 deg, deltaT: 4.491671 s, approachRate: 0.507606 m/s, LOS rate: 1.519687 deg/s, posRepo size: 4
2021-08-14T18:40:30.723Z,1628966430.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:31.049Z,1628966431.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:31.049Z,1628966431.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:31.049Z,1628966431.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:31.050Z,1628966431.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:31.461Z,1628966431.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00539,187,80,80,6A,FF
2021-08-14T18:40:31.461Z,1628966431.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:31.461Z,1628966431.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:31.463Z,1628966431.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:31.872Z,1628966431.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:32.265Z,1628966432.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00566,184,80,80,79,FF
2021-08-14T18:40:32.265Z,1628966432.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:32.721Z,1628966432.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184033.39*59

2021-08-14T18:40:32.805Z,1628966432.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 95.870482 deg, deltaT: 4.447016 s, approachRate: 0.607149 m/s, LOS rate: -1.127275 deg/s, posRepo size: 4
2021-08-14T18:40:35.119Z,1628966435.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:35.497Z,1628966435.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:35.497Z,1628966435.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:35.497Z,1628966435.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:35.498Z,1628966435.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:35.909Z,1628966435.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00566,184,80,80,79,FF
2021-08-14T18:40:35.909Z,1628966435.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:35.909Z,1628966435.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:35.911Z,1628966435.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:36.314Z,1628966436.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:36.741Z,1628966436.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00590,189,80,80,30,FF
2021-08-14T18:40:36.742Z,1628966436.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:37.149Z,1628966437.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184037.84*5B

2021-08-14T18:40:37.172Z,1628966437.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.940006 m, bearing: 131.999362 deg, deltaT: 4.454035 s, approachRate: 0.565781 m/s, LOS rate: 8.111494 deg/s, posRepo size: 4
2021-08-14T18:40:39.559Z,1628966439.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:39.944Z,1628966439.944 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:39.944Z,1628966439.944 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:39.945Z,1628966439.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:39.945Z,1628966439.945 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:40.345Z,1628966440.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00590,189,80,80,30,FF
2021-08-14T18:40:40.345Z,1628966440.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:40.345Z,1628966440.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:40.347Z,1628966440.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:40.760Z,1628966440.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:41.161Z,1628966441.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,005BD,186,80,80,37,FF
2021-08-14T18:40:41.162Z,1628966441.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:41.604Z,1628966441.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184042.27*50

2021-08-14T18:40:41.627Z,1628966441.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 84.667756 deg, deltaT: 4.404942 s, approachRate: 0.612945 m/s, LOS rate: -10.745114 deg/s, posRepo size: 4
2021-08-14T18:40:44.071Z,1628966444.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:44.389Z,1628966444.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:44.389Z,1628966444.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:44.389Z,1628966444.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:44.390Z,1628966444.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:44.793Z,1628966444.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,005BD,186,80,80,37,FF
2021-08-14T18:40:44.793Z,1628966444.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:44.793Z,1628966444.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:44.795Z,1628966444.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:44.871Z,1628966444.871 [CTD_Seabird](ERROR): Failed to parse device response: .23
2021-08-14T18:40:45.228Z,1628966445.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:45.634Z,1628966445.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,005E5,188,80,80,69,FF
2021-08-14T18:40:45.634Z,1628966445.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:46.081Z,1628966446.081 [Micromodem](INFO): Nmea in: $SNTTA,0.048804,,,,184046.72*4A

2021-08-14T18:40:46.136Z,1628966446.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 122.391048 deg, deltaT: 4.509959 s, approachRate: 0.532157 m/s, LOS rate: 8.364443 deg/s, posRepo size: 4
2021-08-14T18:40:48.475Z,1628966448.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:48.861Z,1628966448.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:48.861Z,1628966448.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:48.862Z,1628966448.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:48.863Z,1628966448.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:49.261Z,1628966449.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,005E5,188,80,80,69,FF
2021-08-14T18:40:49.261Z,1628966449.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:49.262Z,1628966449.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:49.263Z,1628966449.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:49.700Z,1628966449.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:50.508Z,1628966450.508 [Micromodem](INFO): Nmea in: $SNTTA,0.067734,,,,184051.19*40

2021-08-14T18:40:51.327Z,1628966451.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:52.905Z,1628966452.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,188,80,80,69,FF
2021-08-14T18:40:52.905Z,1628966452.905 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,188,80,80,69,FF
2021-08-14T18:40:52.905Z,1628966452.905 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:40:54.158Z,1628966454.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:54.518Z,1628966454.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:54.518Z,1628966454.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:54.518Z,1628966454.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:54.519Z,1628966454.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:54.929Z,1628966454.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,188,80,80,69,FF
2021-08-14T18:40:54.929Z,1628966454.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:54.929Z,1628966454.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:54.931Z,1628966454.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:55.329Z,1628966455.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:40:55.749Z,1628966455.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,0064E,187,80,80,6E,FF
2021-08-14T18:40:55.750Z,1628966455.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:40:56.173Z,1628966456.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184056.86*5E

2021-08-14T18:40:56.228Z,1628966456.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 122.139123 deg, deltaT: 10.064263 s, approachRate: 0.625978 m/s, LOS rate: -0.025032 deg/s, posRepo size: 4
2021-08-14T18:40:58.591Z,1628966458.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:40:58.977Z,1628966458.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:40:58.977Z,1628966458.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:40:58.977Z,1628966458.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:40:58.978Z,1628966458.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:40:59.365Z,1628966459.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,0064E,187,80,80,6E,FF
2021-08-14T18:40:59.365Z,1628966459.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:40:59.366Z,1628966459.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:40:59.367Z,1628966459.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:40:59.776Z,1628966459.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:00.173Z,1628966460.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,00677,189,80,80,62,FF
2021-08-14T18:41:00.173Z,1628966460.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:00.605Z,1628966460.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184101.29*58

2021-08-14T18:41:00.627Z,1628966460.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 133.097574 deg, deltaT: 4.453792 s, approachRate: 0.552338 m/s, LOS rate: 2.460477 deg/s, posRepo size: 4
2021-08-14T18:41:03.018Z,1628966463.018 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:41:03.033Z,1628966463.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:03.413Z,1628966463.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:03.414Z,1628966463.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:03.414Z,1628966463.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:03.415Z,1628966463.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:03.809Z,1628966463.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,00677,189,80,80,62,FF
2021-08-14T18:41:03.809Z,1628966463.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:03.809Z,1628966463.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:03.811Z,1628966463.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:04.228Z,1628966464.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:04.617Z,1628966464.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,006A1,186,80,80,57,FF
2021-08-14T18:41:04.617Z,1628966464.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:05.077Z,1628966465.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184105.74*54

2021-08-14T18:41:05.123Z,1628966465.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 105.679153 deg, deltaT: 4.470077 s, approachRate: 0.563747 m/s, LOS rate: -6.133769 deg/s, posRepo size: 4
2021-08-14T18:41:07.471Z,1628966467.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:07.871Z,1628966467.871 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:07.871Z,1628966467.871 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:07.871Z,1628966467.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:07.872Z,1628966467.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:08.257Z,1628966468.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,006A1,186,80,80,57,FF
2021-08-14T18:41:08.257Z,1628966468.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:08.257Z,1628966468.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:08.259Z,1628966468.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:08.698Z,1628966468.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:09.073Z,1628966469.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,006CF,186,80,80,6C,FF
2021-08-14T18:41:09.073Z,1628966469.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:09.505Z,1628966469.505 [Micromodem](INFO): Nmea in: $SNTTA,0.060014,,,,184110.18*47

2021-08-14T18:41:09.530Z,1628966469.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 113.192224 deg, deltaT: 4.430380 s, approachRate: 0.622972 m/s, LOS rate: 1.695807 deg/s, posRepo size: 4
2021-08-14T18:41:11.927Z,1628966471.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:12.293Z,1628966472.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:12.293Z,1628966472.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:12.293Z,1628966472.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:12.294Z,1628966472.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:12.733Z,1628966472.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,006CF,186,80,80,6C,FF
2021-08-14T18:41:12.733Z,1628966472.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:12.733Z,1628966472.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:12.735Z,1628966472.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:13.120Z,1628966473.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:13.506Z,1628966473.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,006FC,187,80,80,4D,FF
2021-08-14T18:41:13.506Z,1628966473.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:13.935Z,1628966473.935 [Micromodem](INFO): Nmea in: $SNTTA,0.057371,,,,184114.66*4E

2021-08-14T18:41:13.974Z,1628966473.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.780006 m, bearing: 117.894789 deg, deltaT: 4.429893 s, approachRate: 0.609497 m/s, LOS rate: 1.061553 deg/s, posRepo size: 4
2021-08-14T18:41:16.387Z,1628966476.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:16.753Z,1628966476.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:16.753Z,1628966476.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:16.753Z,1628966476.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:16.754Z,1628966476.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:17.153Z,1628966477.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,006FC,187,80,80,4D,FF
2021-08-14T18:41:17.153Z,1628966477.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:17.153Z,1628966477.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:17.155Z,1628966477.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:17.553Z,1628966477.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:17.949Z,1628966477.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00729,186,80,80,92,FF
2021-08-14T18:41:17.949Z,1628966477.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:18.378Z,1628966478.378 [Micromodem](INFO): Nmea in: $SNTTA,0.385278,0.385403,,,184119.08*58

2021-08-14T18:41:18.413Z,1628966478.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 119.292669 deg, deltaT: 4.462617 s, approachRate: 0.605025 m/s, LOS rate: 0.313242 deg/s, posRepo size: 4
2021-08-14T18:41:20.873Z,1628966480.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:21.196Z,1628966481.196 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:21.196Z,1628966481.196 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:21.197Z,1628966481.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:21.197Z,1628966481.197 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:21.581Z,1628966481.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00729,186,80,80,92,FF
2021-08-14T18:41:21.581Z,1628966481.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:21.581Z,1628966481.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:21.583Z,1628966481.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:22.014Z,1628966482.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:22.397Z,1628966482.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00754,186,80,80,9F,FF
2021-08-14T18:41:22.398Z,1628966482.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:22.401Z,1628966482.401 [Micromodem](INFO): Nmea in: NTTA,0.130450,0.082032,,,184123.51*5F

2021-08-14T18:41:22.401Z,1628966482.401 [Micromodem](ERROR): Response from modem failed NMEA checksum: NTTA,0.130450,0.082032,,,184123.51*5F
 expected 0
2021-08-14T18:41:22.873Z,1628966482.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.059998 m, bearing: 119.791683 deg, deltaT: 4.460261 s, approachRate: 0.578440 m/s, LOS rate: 0.111880 deg/s, posRepo size: 4
2021-08-14T18:41:25.259Z,1628966485.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:25.637Z,1628966485.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:25.637Z,1628966485.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:25.637Z,1628966485.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:25.638Z,1628966485.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:26.054Z,1628966486.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00754,186,80,80,9F,FF
2021-08-14T18:41:26.055Z,1628966486.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:26.055Z,1628966486.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:26.062Z,1628966486.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:26.436Z,1628966486.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:26.853Z,1628966486.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00784,187,80,80,82,FF
2021-08-14T18:41:26.853Z,1628966486.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:27.269Z,1628966487.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184127.99*57

2021-08-14T18:41:27.304Z,1628966487.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.939995 m, bearing: 117.650036 deg, deltaT: 4.425107 s, approachRate: 0.650831 m/s, LOS rate: -0.483976 deg/s, posRepo size: 4
2021-08-14T18:41:29.716Z,1628966489.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:30.121Z,1628966490.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:30.121Z,1628966490.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:30.121Z,1628966490.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:30.122Z,1628966490.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:30.481Z,1628966490.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00784,187,80,80,82,FF
2021-08-14T18:41:30.482Z,1628966490.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:30.482Z,1628966490.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:30.484Z,1628966490.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:30.897Z,1628966490.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:31.285Z,1628966491.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,007AD,186,80,80,96,FF
2021-08-14T18:41:31.286Z,1628966491.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:31.745Z,1628966491.745 [Micromodem](INFO): Nmea in: $SNTTA,0.077047,,,,184132.41*4B

2021-08-14T18:41:31.771Z,1628966491.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 118.783232 deg, deltaT: 4.393990 s, approachRate: 0.559855 m/s, LOS rate: 0.257897 deg/s, posRepo size: 4
2021-08-14T18:41:34.200Z,1628966494.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:34.513Z,1628966494.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:34.514Z,1628966494.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:34.514Z,1628966494.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:34.515Z,1628966494.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:34.930Z,1628966494.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,007AD,186,80,80,96,FF
2021-08-14T18:41:34.930Z,1628966494.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:34.930Z,1628966494.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:34.933Z,1628966494.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:35.333Z,1628966495.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:35.746Z,1628966495.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,007DB,186,80,80,87,FF
2021-08-14T18:41:35.747Z,1628966495.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:36.169Z,1628966496.169 [Micromodem](INFO): Nmea in: $SNTTA,0.071021,,,,184136.86*42

2021-08-14T18:41:36.216Z,1628966496.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.160004 m, bearing: 118.906599 deg, deltaT: 4.506517 s, approachRate: 0.612449 m/s, LOS rate: 0.027375 deg/s, posRepo size: 4
2021-08-14T18:41:38.583Z,1628966498.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:38.962Z,1628966498.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:38.962Z,1628966498.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:38.962Z,1628966498.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:38.963Z,1628966498.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:39.361Z,1628966499.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,007DB,186,80,80,87,FF
2021-08-14T18:41:39.361Z,1628966499.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:39.361Z,1628966499.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:39.363Z,1628966499.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:39.771Z,1628966499.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:40.181Z,1628966500.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00809,188,80,80,79,FF
2021-08-14T18:41:40.181Z,1628966500.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:40.619Z,1628966500.619 [Micromodem](INFO): Nmea in: $SNTTA,0.281472,,,,184141.29*48

2021-08-14T18:41:40.652Z,1628966500.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 122.058882 deg, deltaT: 4.452957 s, approachRate: 0.619813 m/s, LOS rate: 0.707908 deg/s, posRepo size: 4
2021-08-14T18:41:43.078Z,1628966503.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:43.401Z,1628966503.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:43.401Z,1628966503.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:43.401Z,1628966503.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:43.402Z,1628966503.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:43.805Z,1628966503.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00809,188,80,80,79,FF
2021-08-14T18:41:43.805Z,1628966503.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:43.805Z,1628966503.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:43.807Z,1628966503.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:44.220Z,1628966504.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:44.609Z,1628966504.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,00836,186,80,80,7A,FF
2021-08-14T18:41:44.610Z,1628966504.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:45.069Z,1628966505.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184145.73*57

2021-08-14T18:41:45.095Z,1628966505.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.620010 m, bearing: 119.812460 deg, deltaT: 4.447308 s, approachRate: 0.607110 m/s, LOS rate: -0.505119 deg/s, posRepo size: 4
2021-08-14T18:41:47.481Z,1628966507.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:47.856Z,1628966507.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:47.856Z,1628966507.856 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:47.859Z,1628966507.859 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:47.862Z,1628966507.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:48.249Z,1628966508.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,00836,186,80,80,7A,FF
2021-08-14T18:41:48.249Z,1628966508.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:48.249Z,1628966508.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:48.251Z,1628966508.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:48.657Z,1628966508.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:49.061Z,1628966509.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00865,188,80,80,73,FF
2021-08-14T18:41:49.062Z,1628966509.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:49.514Z,1628966509.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184150.18*5E

2021-08-14T18:41:49.547Z,1628966509.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 121.481389 deg, deltaT: 4.368940 s, approachRate: 0.645464 m/s, LOS rate: 0.381999 deg/s, posRepo size: 4
2021-08-14T18:41:51.927Z,1628966511.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:52.289Z,1628966512.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:52.289Z,1628966512.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:52.289Z,1628966512.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:52.290Z,1628966512.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:52.710Z,1628966512.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00865,188,80,80,73,FF
2021-08-14T18:41:52.710Z,1628966512.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:52.710Z,1628966512.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:52.712Z,1628966512.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:53.105Z,1628966513.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:53.498Z,1628966513.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00893,187,80,80,7D,FF
2021-08-14T18:41:53.498Z,1628966513.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:53.945Z,1628966513.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184154.64*51

2021-08-14T18:41:53.971Z,1628966513.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.200005 m, bearing: 119.776738 deg, deltaT: 4.489535 s, approachRate: 0.614763 m/s, LOS rate: -0.379694 deg/s, posRepo size: 4
2021-08-14T18:41:56.376Z,1628966516.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:41:56.753Z,1628966516.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:41:56.753Z,1628966516.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:41:56.753Z,1628966516.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:41:56.754Z,1628966516.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:41:57.141Z,1628966517.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00893,187,80,80,7D,FF
2021-08-14T18:41:57.141Z,1628966517.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:41:57.141Z,1628966517.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:41:57.143Z,1628966517.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:41:57.557Z,1628966517.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:41:57.957Z,1628966517.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,008C0,186,80,80,55,FF
2021-08-14T18:41:57.957Z,1628966517.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:41:58.365Z,1628966518.365 [Micromodem](INFO): Nmea in: $SNTTA,0.349928,0.350022,,,184159.07*52

2021-08-14T18:41:58.413Z,1628966518.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.899994 m, bearing: 118.126032 deg, deltaT: 4.519014 s, approachRate: 0.597473 m/s, LOS rate: -0.365280 deg/s, posRepo size: 4
2021-08-14T18:42:00.815Z,1628966520.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:01.181Z,1628966521.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:01.181Z,1628966521.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:01.181Z,1628966521.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:01.182Z,1628966521.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:01.597Z,1628966521.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,008C0,186,80,80,55,FF
2021-08-14T18:42:01.597Z,1628966521.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:01.597Z,1628966521.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:01.599Z,1628966521.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:01.989Z,1628966521.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:02.402Z,1628966522.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,008EC,187,80,80,60,FF
2021-08-14T18:42:02.402Z,1628966522.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:02.829Z,1628966522.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184203.52*55

2021-08-14T18:42:02.898Z,1628966522.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 119.438316 deg, deltaT: 4.351923 s, approachRate: 0.606632 m/s, LOS rate: 0.301541 deg/s, posRepo size: 4
2021-08-14T18:42:04.564Z,1628966524.564 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T18:42:05.234Z,1628966525.234 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:05.243Z,1628966525.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:05.621Z,1628966525.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:05.621Z,1628966525.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:05.621Z,1628966525.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:05.622Z,1628966525.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:06.036Z,1628966526.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,008EC,187,80,80,60,FF
2021-08-14T18:42:06.037Z,1628966526.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:06.037Z,1628966526.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:06.045Z,1628966526.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:06.239Z,1628966526.239 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:06.441Z,1628966526.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:06.837Z,1628966526.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,0091C,186,80,80,98,FF
2021-08-14T18:42:06.837Z,1628966526.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:07.245Z,1628966527.245 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:07.277Z,1628966527.277 [Micromodem](INFO): Nmea in: $SNTTA,0.097730,,,,184207.97*4C

2021-08-14T18:42:07.309Z,1628966527.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.420006 m, bearing: 118.704194 deg, deltaT: 4.450644 s, approachRate: 0.647097 m/s, LOS rate: -0.164947 deg/s, posRepo size: 4
2021-08-14T18:42:08.246Z,1628966528.246 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:09.250Z,1628966529.250 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:09.730Z,1628966529.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:10.109Z,1628966530.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:10.109Z,1628966530.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:10.109Z,1628966530.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:10.110Z,1628966530.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:10.255Z,1628966530.255 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:10.477Z,1628966530.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,0091C,186,80,80,98,FF
2021-08-14T18:42:10.477Z,1628966530.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:10.477Z,1628966530.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:10.479Z,1628966530.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:10.894Z,1628966530.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:11.258Z,1628966531.258 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:11.289Z,1628966531.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0C,000,00948,187,80,80,77,FF
2021-08-14T18:42:11.290Z,1628966531.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:11.730Z,1628966531.730 [Micromodem](INFO): Nmea in: $SNTTA,0.080544,,,,184212.40*45

2021-08-14T18:42:11.756Z,1628966531.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 118.732389 deg, deltaT: 4.441280 s, approachRate: 0.594423 m/s, LOS rate: 0.006348 deg/s, posRepo size: 4
2021-08-14T18:42:12.263Z,1628966532.263 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:13.266Z,1628966533.266 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:14.167Z,1628966534.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:14.270Z,1628966534.270 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:14.514Z,1628966534.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:14.514Z,1628966534.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:14.514Z,1628966534.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:14.515Z,1628966534.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:14.913Z,1628966534.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0C,000,00948,187,80,80,77,FF
2021-08-14T18:42:14.913Z,1628966534.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:14.913Z,1628966534.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:14.915Z,1628966534.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:15.274Z,1628966535.274 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T18:42:15.344Z,1628966535.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:15.508Z,1628966535.508 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005989
CHAN A1 (24V): -0.023603
CHAN A2 (12V): -0.005634
CHAN A3 (5V): -0.001309
CHAN B0 (3.3V): 0.001040
CHAN B1 (3.15aV): 0.000629
CHAN B2 (3.15bV): 0.000739
CHAN B3 (GND): 0.002384
OPEN: 0.006916
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T18:42:15.752Z,1628966535.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,00972,186,80,80,76,FF
2021-08-14T18:42:15.753Z,1628966535.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:16.169Z,1628966536.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184216.84*5A

2021-08-14T18:42:16.210Z,1628966536.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 118.819364 deg, deltaT: 4.449641 s, approachRate: 0.566339 m/s, LOS rate: 0.019547 deg/s, posRepo size: 4
2021-08-14T18:42:18.591Z,1628966538.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:18.957Z,1628966538.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:18.957Z,1628966538.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:18.957Z,1628966538.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:18.958Z,1628966538.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:19.361Z,1628966539.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,00972,186,80,80,76,FF
2021-08-14T18:42:19.361Z,1628966539.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:19.362Z,1628966539.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:19.363Z,1628966539.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:19.764Z,1628966539.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:20.169Z,1628966540.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,009A3,186,80,80,89,FF
2021-08-14T18:42:20.169Z,1628966540.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:20.605Z,1628966540.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184221.29*59

2021-08-14T18:42:20.642Z,1628966540.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.519997 m, bearing: 113.784996 deg, deltaT: 4.471596 s, approachRate: 0.657480 m/s, LOS rate: -1.125855 deg/s, posRepo size: 4
2021-08-14T18:42:23.036Z,1628966543.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:23.401Z,1628966543.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:23.401Z,1628966543.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:23.401Z,1628966543.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:23.402Z,1628966543.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:23.809Z,1628966543.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,009A3,186,80,80,89,FF
2021-08-14T18:42:23.809Z,1628966543.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:23.809Z,1628966543.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:23.811Z,1628966543.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:24.220Z,1628966544.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:24.617Z,1628966544.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,009D1,185,80,80,91,FF
2021-08-14T18:42:24.617Z,1628966544.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:25.062Z,1628966545.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 113.606004 deg, deltaT: 4.448661 s, approachRate: 0.620412 m/s, LOS rate: -0.040235 deg/s, posRepo size: 4
2021-08-14T18:42:27.463Z,1628966547.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:27.849Z,1628966547.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:27.849Z,1628966547.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:27.849Z,1628966547.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:27.850Z,1628966547.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:28.249Z,1628966548.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,009D1,185,80,80,91,FF
2021-08-14T18:42:28.249Z,1628966548.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:28.249Z,1628966548.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:28.251Z,1628966548.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:28.702Z,1628966548.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:29.486Z,1628966549.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184230.18*5B

2021-08-14T18:42:30.265Z,1628966550.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,03C48,186,80,80,6C,FF
2021-08-14T18:42:30.266Z,1628966550.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:30.766Z,1628966550.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 888.420044 m, bearing: 115.680237 deg, deltaT: 5.650474 s, approachRate: 137.181412 m/s, LOS rate: 0.367090 deg/s, posRepo size: 4
2021-08-14T18:42:33.110Z,1628966553.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:33.510Z,1628966553.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:33.510Z,1628966553.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:33.510Z,1628966553.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:33.511Z,1628966553.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:33.901Z,1628966553.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,03C48,186,80,80,6C,FF
2021-08-14T18:42:33.901Z,1628966553.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:33.901Z,1628966553.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:33.903Z,1628966553.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:34.313Z,1628966554.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:34.737Z,1628966554.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00A34,186,80,80,83,FF
2021-08-14T18:42:34.738Z,1628966554.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:35.157Z,1628966555.157 [Micromodem](INFO): Nmea in: $SNTTA,0.085387,,,,184235.83*43

2021-08-14T18:42:35.180Z,1628966555.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 115.226507 deg, deltaT: 4.413876 s, approachRate: -174.268616 m/s, LOS rate: -0.102796 deg/s, posRepo size: 4
2021-08-14T18:42:37.566Z,1628966557.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:37.964Z,1628966557.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:37.964Z,1628966557.964 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:37.965Z,1628966557.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:37.965Z,1628966557.965 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:38.354Z,1628966558.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00A34,186,80,80,83,FF
2021-08-14T18:42:38.354Z,1628966558.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:38.354Z,1628966558.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:38.356Z,1628966558.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:38.837Z,1628966558.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:39.229Z,1628966559.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00A5E,185,80,80,66,FF
2021-08-14T18:42:39.229Z,1628966559.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:39.645Z,1628966559.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184240.28*5F

2021-08-14T18:42:39.715Z,1628966559.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.740005 m, bearing: 116.757931 deg, deltaT: 4.513548 s, approachRate: 0.558320 m/s, LOS rate: 0.339295 deg/s, posRepo size: 4
2021-08-14T18:42:42.143Z,1628966562.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:42.473Z,1628966562.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:42.473Z,1628966562.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:42.473Z,1628966562.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:42.474Z,1628966562.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:42.865Z,1628966562.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00A5E,185,80,80,66,FF
2021-08-14T18:42:42.865Z,1628966562.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:42.865Z,1628966562.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:42.867Z,1628966562.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:43.278Z,1628966563.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:43.697Z,1628966563.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00A8C,186,80,80,6D,FF
2021-08-14T18:42:43.698Z,1628966563.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:44.137Z,1628966564.137 [Micromodem](INFO): Nmea in: $SNTTA,0.082385,,,,184244.80*43

2021-08-14T18:42:44.189Z,1628966564.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.500008 m, bearing: 111.765780 deg, deltaT: 4.470948 s, approachRate: 0.617319 m/s, LOS rate: -1.116576 deg/s, posRepo size: 4
2021-08-14T18:42:46.530Z,1628966566.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:46.915Z,1628966566.915 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:46.915Z,1628966566.915 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:46.915Z,1628966566.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:46.916Z,1628966566.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:47.309Z,1628966567.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00A8C,186,80,80,6D,FF
2021-08-14T18:42:47.309Z,1628966567.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:47.309Z,1628966567.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:47.311Z,1628966567.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:47.740Z,1628966567.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:48.137Z,1628966568.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00AB9,186,80,80,89,FF
2021-08-14T18:42:48.137Z,1628966568.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:48.568Z,1628966568.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184249.24*5A

2021-08-14T18:42:48.591Z,1628966568.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.200005 m, bearing: 118.327071 deg, deltaT: 4.449284 s, approachRate: 0.606839 m/s, LOS rate: 1.474685 deg/s, posRepo size: 4
2021-08-14T18:42:51.020Z,1628966571.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:51.365Z,1628966571.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:51.365Z,1628966571.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:51.365Z,1628966571.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:51.366Z,1628966571.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:51.764Z,1628966571.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00AB9,186,80,80,89,FF
2021-08-14T18:42:51.764Z,1628966571.764 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:51.765Z,1628966571.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:51.766Z,1628966571.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:52.165Z,1628966572.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:52.578Z,1628966572.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,00AE8,186,80,80,81,FF
2021-08-14T18:42:52.578Z,1628966572.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:53.025Z,1628966573.025 [Micromodem](INFO): Nmea in: $SNTTA,0.088558,,,,184253.69*4E

2021-08-14T18:42:53.062Z,1628966573.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.020004 m, bearing: 118.992031 deg, deltaT: 4.396883 s, approachRate: 0.641363 m/s, LOS rate: 0.151234 deg/s, posRepo size: 4
2021-08-14T18:42:55.423Z,1628966575.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:42:55.801Z,1628966575.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:42:55.801Z,1628966575.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:42:55.801Z,1628966575.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:42:55.802Z,1628966575.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:42:56.217Z,1628966576.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E12,000,00AE8,186,80,80,81,FF
2021-08-14T18:42:56.217Z,1628966576.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:42:56.217Z,1628966576.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:42:56.219Z,1628966576.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:42:56.608Z,1628966576.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:42:57.025Z,1628966577.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00B16,187,80,80,89,FF
2021-08-14T18:42:57.025Z,1628966577.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:42:57.445Z,1628966577.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184258.15*58

2021-08-14T18:42:57.491Z,1628966577.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.779999 m, bearing: 118.399062 deg, deltaT: 4.480820 s, approachRate: 0.615957 m/s, LOS rate: -0.132335 deg/s, posRepo size: 4
2021-08-14T18:42:59.877Z,1628966579.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:00.249Z,1628966580.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:00.249Z,1628966580.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:00.249Z,1628966580.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:00.250Z,1628966580.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:00.653Z,1628966580.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00B16,187,80,80,89,FF
2021-08-14T18:43:00.653Z,1628966580.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:00.653Z,1628966580.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:00.658Z,1628966580.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:01.056Z,1628966581.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:01.453Z,1628966581.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00B44,186,80,80,85,FF
2021-08-14T18:43:01.454Z,1628966581.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:01.885Z,1628966581.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184302.59*5E

2021-08-14T18:43:01.935Z,1628966581.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 117.997774 deg, deltaT: 4.398910 s, approachRate: 0.627430 m/s, LOS rate: -0.091224 deg/s, posRepo size: 4
2021-08-14T18:43:04.337Z,1628966584.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:04.697Z,1628966584.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:04.697Z,1628966584.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:04.697Z,1628966584.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:04.698Z,1628966584.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:05.105Z,1628966585.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00B44,186,80,80,85,FF
2021-08-14T18:43:05.105Z,1628966585.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:05.106Z,1628966585.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:05.107Z,1628966585.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:05.493Z,1628966585.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:05.902Z,1628966585.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00B74,187,80,80,85,FF
2021-08-14T18:43:05.903Z,1628966585.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:06.326Z,1628966586.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184307.03*54

2021-08-14T18:43:06.362Z,1628966586.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.419998 m, bearing: 117.071915 deg, deltaT: 4.457325 s, approachRate: 0.646125 m/s, LOS rate: -0.207716 deg/s, posRepo size: 4
2021-08-14T18:43:08.765Z,1628966588.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:09.131Z,1628966589.131 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:09.131Z,1628966589.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:09.131Z,1628966589.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:09.152Z,1628966589.152 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:09.530Z,1628966589.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00B74,187,80,80,85,FF
2021-08-14T18:43:09.531Z,1628966589.531 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:09.531Z,1628966589.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:09.534Z,1628966589.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:09.939Z,1628966589.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:10.349Z,1628966590.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00BA6,186,80,80,94,FF
2021-08-14T18:43:10.349Z,1628966590.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:10.354Z,1628966590.354 [Micromodem](INFO): Nmea in: $SNTTA,0.194581,0.194581,,,184311.46*52

2021-08-14T18:43:10.821Z,1628966590.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.420013 m, bearing: 116.790252 deg, deltaT: 4.499318 s, approachRate: 0.666771 m/s, LOS rate: -0.062601 deg/s, posRepo size: 4
2021-08-14T18:43:13.226Z,1628966593.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:13.581Z,1628966593.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:13.581Z,1628966593.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:13.581Z,1628966593.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:13.582Z,1628966593.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:13.973Z,1628966593.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00BA6,186,80,80,94,FF
2021-08-14T18:43:13.973Z,1628966593.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:13.974Z,1628966593.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:13.995Z,1628966593.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:14.393Z,1628966594.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:14.783Z,1628966594.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00BD3,186,80,80,94,FF
2021-08-14T18:43:14.784Z,1628966594.784 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:15.218Z,1628966595.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184315.92*5F

2021-08-14T18:43:15.239Z,1628966595.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.120010 m, bearing: 116.852639 deg, deltaT: 4.430179 s, approachRate: 0.609456 m/s, LOS rate: 0.014082 deg/s, posRepo size: 4
2021-08-14T18:43:17.631Z,1628966597.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:18.039Z,1628966598.039 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:18.039Z,1628966598.039 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:18.041Z,1628966598.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:18.042Z,1628966598.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:18.421Z,1628966598.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00BD3,186,80,80,94,FF
2021-08-14T18:43:18.421Z,1628966598.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:18.421Z,1628966598.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:18.423Z,1628966598.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:18.829Z,1628966598.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:19.239Z,1628966599.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00C02,187,80,80,86,FF
2021-08-14T18:43:19.239Z,1628966599.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:19.685Z,1628966599.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184320.35*54

2021-08-14T18:43:19.740Z,1628966599.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.940002 m, bearing: 117.541545 deg, deltaT: 4.394063 s, approachRate: 0.641773 m/s, LOS rate: 0.156781 deg/s, posRepo size: 4
2021-08-14T18:43:22.177Z,1628966602.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:22.457Z,1628966602.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:22.457Z,1628966602.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:22.457Z,1628966602.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:22.458Z,1628966602.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:22.861Z,1628966602.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00C02,187,80,80,86,FF
2021-08-14T18:43:22.861Z,1628966602.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:22.862Z,1628966602.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:22.863Z,1628966602.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:23.277Z,1628966603.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:23.688Z,1628966603.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,00C31,186,80,80,86,FF
2021-08-14T18:43:23.690Z,1628966603.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:24.126Z,1628966604.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184324.79*58

2021-08-14T18:43:24.179Z,1628966604.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.759995 m, bearing: 118.708401 deg, deltaT: 4.519690 s, approachRate: 0.623935 m/s, LOS rate: 0.258172 deg/s, posRepo size: 4
2021-08-14T18:43:26.547Z,1628966606.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:26.897Z,1628966606.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:26.897Z,1628966606.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:26.898Z,1628966606.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:26.899Z,1628966606.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:27.305Z,1628966607.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E12,000,00C31,186,80,80,86,FF
2021-08-14T18:43:27.306Z,1628966607.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:27.306Z,1628966607.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:27.307Z,1628966607.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:27.740Z,1628966607.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:28.129Z,1628966608.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E27,000,00C5E,186,80,80,8F,FF
2021-08-14T18:43:28.130Z,1628966608.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:28.557Z,1628966608.557 [Micromodem](INFO): Nmea in: $SNTTA,0.103439,,,,184329.23*48

2021-08-14T18:43:28.614Z,1628966608.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.460007 m, bearing: 117.467656 deg, deltaT: 4.418993 s, approachRate: 0.611002 m/s, LOS rate: -0.280775 deg/s, posRepo size: 4
2021-08-14T18:43:30.977Z,1628966610.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:31.353Z,1628966611.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:31.354Z,1628966611.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:31.354Z,1628966611.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:31.355Z,1628966611.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:31.753Z,1628966611.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E27,000,00C5E,186,80,80,8F,FF
2021-08-14T18:43:31.753Z,1628966611.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:31.753Z,1628966611.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:31.755Z,1628966611.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:32.169Z,1628966612.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:32.570Z,1628966612.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00C8C,186,80,80,8F,FF
2021-08-14T18:43:32.570Z,1628966612.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:33.029Z,1628966613.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184333.68*5E

2021-08-14T18:43:33.072Z,1628966613.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.220001 m, bearing: 115.956668 deg, deltaT: 4.433353 s, approachRate: 0.622552 m/s, LOS rate: -0.340823 deg/s, posRepo size: 4
2021-08-14T18:43:35.411Z,1628966615.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:35.789Z,1628966615.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:35.789Z,1628966615.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:35.789Z,1628966615.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:35.790Z,1628966615.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:36.197Z,1628966616.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00C8C,186,80,80,8F,FF
2021-08-14T18:43:36.197Z,1628966616.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:36.197Z,1628966616.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:36.199Z,1628966616.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:36.621Z,1628966616.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:37.005Z,1628966617.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,00CB9,186,80,80,8F,FF
2021-08-14T18:43:37.006Z,1628966617.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:37.442Z,1628966617.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184338.12*58

2021-08-14T18:43:37.458Z,1628966617.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.920013 m, bearing: 116.070910 deg, deltaT: 4.447106 s, approachRate: 0.607139 m/s, LOS rate: 0.025689 deg/s, posRepo size: 4
2021-08-14T18:43:39.866Z,1628966619.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:40.233Z,1628966620.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:40.233Z,1628966620.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:40.233Z,1628966620.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:40.234Z,1628966620.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:40.646Z,1628966620.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,00CB9,186,80,80,8F,FF
2021-08-14T18:43:40.646Z,1628966620.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:40.646Z,1628966620.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:40.647Z,1628966620.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:41.045Z,1628966621.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:41.449Z,1628966621.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00CE9,186,80,80,8F,FF
2021-08-14T18:43:41.450Z,1628966621.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:41.885Z,1628966621.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184342.58*5B

2021-08-14T18:43:41.922Z,1628966621.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.800003 m, bearing: 117.149560 deg, deltaT: 4.416460 s, approachRate: 0.652104 m/s, LOS rate: 0.244234 deg/s, posRepo size: 4
2021-08-14T18:43:44.326Z,1628966624.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:44.713Z,1628966624.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:44.713Z,1628966624.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:44.713Z,1628966624.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:44.714Z,1628966624.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:45.077Z,1628966625.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00CE9,186,80,80,8F,FF
2021-08-14T18:43:45.077Z,1628966625.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:45.078Z,1628966625.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:45.079Z,1628966625.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:45.485Z,1628966625.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:45.902Z,1628966625.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00D15,186,80,80,8F,FF
2021-08-14T18:43:45.902Z,1628966625.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:46.335Z,1628966626.335 [Micromodem](INFO): Nmea in: $SNTTA,0.110748,,,,184347.01*47

2021-08-14T18:43:46.371Z,1628966626.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.439987 m, bearing: 118.098069 deg, deltaT: 4.460058 s, approachRate: 0.591917 m/s, LOS rate: 0.212667 deg/s, posRepo size: 4
2021-08-14T18:43:48.783Z,1628966628.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:49.125Z,1628966629.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:49.125Z,1628966629.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:49.126Z,1628966629.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:49.127Z,1628966629.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:49.526Z,1628966629.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00D15,186,80,80,8F,FF
2021-08-14T18:43:49.526Z,1628966629.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:49.526Z,1628966629.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:49.557Z,1628966629.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:49.937Z,1628966629.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:50.336Z,1628966630.336 [Micromodem](INFO): Nmea in: $SNTTA,0.184089,0.183946,,,184351.48*55

2021-08-14T18:43:50.901Z,1628966630.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00D43,186,80,80,84,FF
2021-08-14T18:43:50.902Z,1628966630.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:43:51.167Z,1628966631.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.200012 m, bearing: 116.639181 deg, deltaT: 5.006607 s, approachRate: 0.551277 m/s, LOS rate: -0.291392 deg/s, posRepo size: 4
2021-08-14T18:43:53.595Z,1628966633.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:53.965Z,1628966633.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:53.965Z,1628966633.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:53.965Z,1628966633.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:53.966Z,1628966633.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:54.377Z,1628966634.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00D43,186,80,80,84,FF
2021-08-14T18:43:54.377Z,1628966634.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:54.377Z,1628966634.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:54.379Z,1628966634.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:43:54.792Z,1628966634.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:43:55.614Z,1628966635.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184356.30*50

2021-08-14T18:43:56.097Z,1628966636.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:58.056Z,1628966638.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,84,FF
2021-08-14T18:43:58.057Z,1628966638.057 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,84,FF
2021-08-14T18:43:58.058Z,1628966638.058 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:43:58.845Z,1628966638.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:43:59.225Z,1628966639.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:43:59.226Z,1628966639.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:43:59.226Z,1628966639.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:43:59.227Z,1628966639.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:43:59.621Z,1628966639.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,84,FF
2021-08-14T18:43:59.621Z,1628966639.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:43:59.621Z,1628966639.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:43:59.623Z,1628966639.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:00.066Z,1628966640.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:00.433Z,1628966640.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,004
3,186,80,80,84,FF
2021-08-14T18:44:00.434Z,1628966640.434 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E22,000,004
3,186,80,80,84,FF
2021-08-14T18:44:00.854Z,1628966640.854 [Micromodem](INFO): Nmea in: $SNTTA,0.116826,,,,184401.55*42

2021-08-14T18:44:01.706Z,1628966641.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:04.503Z,1628966644.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:05.296Z,1628966645.296 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069325
2021-08-14T18:44:07.314Z,1628966647.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:07.741Z,1628966647.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:07.741Z,1628966647.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:07.741Z,1628966647.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:07.742Z,1628966647.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:08.129Z,1628966648.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,004
3,186,80,80,84,FF
2021-08-14T18:44:08.130Z,1628966648.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:08.130Z,1628966648.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:08.132Z,1628966648.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:08.518Z,1628966648.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:09.337Z,1628966649.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E31,000,00E02,186,80,80,7C,FF
2021-08-14T18:44:09.338Z,1628966649.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:09.340Z,1628966649.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184410.06*50

2021-08-14T18:44:09.781Z,1628966649.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.659988 m, bearing: 117.047545 deg, deltaT: 18.426395 s, approachRate: 0.621933 m/s, LOS rate: 0.022162 deg/s, posRepo size: 4
2021-08-14T18:44:12.198Z,1628966652.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:12.561Z,1628966652.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:12.561Z,1628966652.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:12.562Z,1628966652.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:12.563Z,1628966652.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:12.953Z,1628966652.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E31,000,00E02,186,80,80,7C,FF
2021-08-14T18:44:12.953Z,1628966652.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:12.953Z,1628966652.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:12.955Z,1628966652.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:13.358Z,1628966653.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:14.177Z,1628966654.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00E37,187,80,80,7D,FF
2021-08-14T18:44:14.177Z,1628966654.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:14.603Z,1628966654.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.839996 m, bearing: 117.338552 deg, deltaT: 4.848838 s, approachRate: 0.655829 m/s, LOS rate: 0.060016 deg/s, posRepo size: 4
2021-08-14T18:44:17.049Z,1628966657.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:17.409Z,1628966657.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:17.409Z,1628966657.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:17.409Z,1628966657.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:17.410Z,1628966657.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:17.815Z,1628966657.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00E37,187,80,80,7D,FF
2021-08-14T18:44:17.816Z,1628966657.816 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:17.816Z,1628966657.816 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:17.818Z,1628966657.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:18.230Z,1628966658.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:19.085Z,1628966659.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,00E68,186,80,80,84,FF
2021-08-14T18:44:19.085Z,1628966659.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:19.088Z,1628966659.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184419.75*5D

2021-08-14T18:44:19.456Z,1628966659.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.780014 m, bearing: 115.436276 deg, deltaT: 4.916726 s, approachRate: 0.597962 m/s, LOS rate: -0.386899 deg/s, posRepo size: 4
2021-08-14T18:44:21.893Z,1628966661.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:22.253Z,1628966662.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:22.253Z,1628966662.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:22.253Z,1628966662.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:22.254Z,1628966662.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:22.654Z,1628966662.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,00E68,186,80,80,84,FF
2021-08-14T18:44:22.654Z,1628966662.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:22.654Z,1628966662.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:22.673Z,1628966662.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:23.069Z,1628966663.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:23.897Z,1628966663.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00E99,186,80,80,66,FF
2021-08-14T18:44:23.897Z,1628966663.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:23.901Z,1628966663.901 [Micromodem](INFO): Nmea in: $SNTTA,0.123954,,,,184424.60*41

2021-08-14T18:44:24.329Z,1628966664.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.720001 m, bearing: 117.166991 deg, deltaT: 4.811931 s, approachRate: 0.610979 m/s, LOS rate: 0.359672 deg/s, posRepo size: 4
2021-08-14T18:44:26.757Z,1628966666.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:27.112Z,1628966667.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:27.113Z,1628966667.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:27.113Z,1628966667.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:27.114Z,1628966667.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:27.498Z,1628966667.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00E99,186,80,80,66,FF
2021-08-14T18:44:27.498Z,1628966667.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:27.498Z,1628966667.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:27.501Z,1628966667.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:27.914Z,1628966667.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:28.322Z,1628966668.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00E99,186,80,80,66,FF
2021-08-14T18:44:28.322Z,1628966668.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:28.757Z,1628966668.757 [Micromodem](INFO): Nmea in: $SNTTA,0.128337,,,,184429.43*49

2021-08-14T18:44:28.804Z,1628966668.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.720001 m, bearing: 117.599834 deg, deltaT: 4.384651 s, approachRate: 0.000000 m/s, LOS rate: 0.098718 deg/s, posRepo size: 4
2021-08-14T18:44:31.166Z,1628966671.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:31.537Z,1628966671.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:31.537Z,1628966671.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:31.537Z,1628966671.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:31.538Z,1628966671.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:31.954Z,1628966671.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00E99,186,80,80,66,FF
2021-08-14T18:44:31.954Z,1628966671.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:31.954Z,1628966671.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:31.973Z,1628966671.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:32.084Z,1628966672.084 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:44:32.358Z,1628966672.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:33.155Z,1628966673.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,00EF9,186,80,80,6D,FF
2021-08-14T18:44:33.156Z,1628966673.156 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:33.163Z,1628966673.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184433.90*5E

2021-08-14T18:44:33.606Z,1628966673.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.479996 m, bearing: 116.134430 deg, deltaT: 4.878486 s, approachRate: 1.180693 m/s, LOS rate: -0.300381 deg/s, posRepo size: 4
2021-08-14T18:44:36.084Z,1628966676.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:36.393Z,1628966676.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:36.393Z,1628966676.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:36.393Z,1628966676.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:36.394Z,1628966676.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:36.807Z,1628966676.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,00EF9,186,80,80,6D,FF
2021-08-14T18:44:36.807Z,1628966676.807 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:36.807Z,1628966676.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:36.810Z,1628966676.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:37.197Z,1628966677.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:38.045Z,1628966678.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00F2C,186,80,80,7F,FF
2021-08-14T18:44:38.046Z,1628966678.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:38.057Z,1628966678.057 [Micromodem](INFO): Nmea in: $SNTTA,0.132625,,,,184438.74*40

2021-08-14T18:44:38.087Z,1628966678.087 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T18:44:38.458Z,1628966678.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.539993 m, bearing: 118.407217 deg, deltaT: 4.926503 s, approachRate: 0.621130 m/s, LOS rate: 0.461339 deg/s, posRepo size: 4
2021-08-14T18:44:40.917Z,1628966680.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:41.232Z,1628966681.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:41.232Z,1628966681.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:41.233Z,1628966681.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:41.233Z,1628966681.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:41.644Z,1628966681.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00F2C,186,80,80,7F,FF
2021-08-14T18:44:41.644Z,1628966681.644 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:41.644Z,1628966681.644 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:41.646Z,1628966681.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:42.081Z,1628966682.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:42.881Z,1628966682.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,00F5F,187,80,80,6B,FF
2021-08-14T18:44:42.881Z,1628966682.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:42.889Z,1628966682.889 [Micromodem](INFO): Nmea in: $SNTTA,,0.097562,,,184443.57*43

2021-08-14T18:44:43.314Z,1628966683.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.599991 m, bearing: 117.888669 deg, deltaT: 4.763244 s, approachRate: 0.642419 m/s, LOS rate: -0.108864 deg/s, posRepo size: 4
2021-08-14T18:44:45.768Z,1628966685.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:46.113Z,1628966686.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:46.113Z,1628966686.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:46.113Z,1628966686.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:46.114Z,1628966686.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:46.493Z,1628966686.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,00F5F,187,80,80,6B,FF
2021-08-14T18:44:46.493Z,1628966686.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:46.493Z,1628966686.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:46.495Z,1628966686.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:46.913Z,1628966686.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:47.737Z,1628966687.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00F90,186,80,80,6B,FF
2021-08-14T18:44:47.737Z,1628966687.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:47.740Z,1628966687.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184448.43*5C

2021-08-14T18:44:48.170Z,1628966688.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.539993 m, bearing: 118.317714 deg, deltaT: 4.850950 s, approachRate: 0.606067 m/s, LOS rate: 0.088446 deg/s, posRepo size: 4
2021-08-14T18:44:50.152Z,1628966690.152 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:44:50.562Z,1628966690.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:50.933Z,1628966690.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:50.933Z,1628966690.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:50.933Z,1628966690.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:50.934Z,1628966690.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:51.333Z,1628966691.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00F90,186,80,80,6B,FF
2021-08-14T18:44:51.333Z,1628966691.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:51.333Z,1628966691.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:51.335Z,1628966691.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:51.749Z,1628966691.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:52.573Z,1628966692.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF1,000,00FC6,187,80,80,79,FF
2021-08-14T18:44:52.573Z,1628966692.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:52.576Z,1628966692.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184453.26*55

2021-08-14T18:44:53.029Z,1628966693.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.779999 m, bearing: 119.617240 deg, deltaT: 4.858462 s, approachRate: 0.666879 m/s, LOS rate: 0.267477 deg/s, posRepo size: 4
2021-08-14T18:44:55.399Z,1628966695.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:44:55.781Z,1628966695.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:44:55.781Z,1628966695.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:44:55.782Z,1628966695.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:44:55.783Z,1628966695.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:44:56.181Z,1628966696.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF1,000,00FC6,187,80,80,79,FF
2021-08-14T18:44:56.181Z,1628966696.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:44:56.181Z,1628966696.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:44:56.183Z,1628966696.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:44:56.589Z,1628966696.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:44:57.421Z,1628966697.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00FF5,187,80,80,82,FF
2021-08-14T18:44:57.421Z,1628966697.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:44:57.425Z,1628966697.425 [Micromodem](INFO): Nmea in: $SNTTA,0.142376,,,,184458.11*41

2021-08-14T18:44:57.839Z,1628966697.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.599976 m, bearing: 116.756005 deg, deltaT: 4.815921 s, approachRate: 0.585553 m/s, LOS rate: -0.594120 deg/s, posRepo size: 4
2021-08-14T18:44:58.231Z,1628966698.231 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:45:00.288Z,1628966700.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:00.629Z,1628966700.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:00.630Z,1628966700.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:00.630Z,1628966700.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:00.631Z,1628966700.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:01.037Z,1628966701.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00FF5,187,80,80,82,FF
2021-08-14T18:45:01.037Z,1628966701.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:01.037Z,1628966701.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:01.039Z,1628966701.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:01.442Z,1628966701.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:02.261Z,1628966702.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,01027,185,80,80,84,FF
2021-08-14T18:45:02.261Z,1628966702.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:02.264Z,1628966702.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184502.97*5A

2021-08-14T18:45:02.709Z,1628966702.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.599991 m, bearing: 114.991139 deg, deltaT: 4.898174 s, approachRate: 0.612476 m/s, LOS rate: -0.360311 deg/s, posRepo size: 4
2021-08-14T18:45:05.087Z,1628966705.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:05.481Z,1628966705.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:05.481Z,1628966705.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:05.481Z,1628966705.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:05.482Z,1628966705.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:05.873Z,1628966705.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,01027,185,80,80,84,FF
2021-08-14T18:45:05.873Z,1628966705.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:05.874Z,1628966705.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:05.875Z,1628966705.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:06.289Z,1628966706.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:07.121Z,1628966707.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4A,000,0105B,186,80,80,71,FF
2021-08-14T18:45:07.121Z,1628966707.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:07.124Z,1628966707.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184507.81*58

2021-08-14T18:45:07.550Z,1628966707.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.720001 m, bearing: 114.966687 deg, deltaT: 4.800991 s, approachRate: 0.649868 m/s, LOS rate: -0.005093 deg/s, posRepo size: 4
2021-08-14T18:45:09.961Z,1628966709.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:10.329Z,1628966710.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:10.329Z,1628966710.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:10.329Z,1628966710.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:10.330Z,1628966710.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:10.749Z,1628966710.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4A,000,0105B,186,80,80,71,FF
2021-08-14T18:45:10.749Z,1628966710.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:10.749Z,1628966710.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:10.751Z,1628966710.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:11.141Z,1628966711.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:11.939Z,1628966711.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,0108F,186,80,80,75,FF
2021-08-14T18:45:11.956Z,1628966711.956 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:11.959Z,1628966711.959 [Micromodem](INFO): Nmea in: $SNTTA,0.146339,,,,184512.68*4F

2021-08-14T18:45:12.405Z,1628966712.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.839996 m, bearing: 114.794429 deg, deltaT: 4.942503 s, approachRate: 0.631258 m/s, LOS rate: -0.034852 deg/s, posRepo size: 4
2021-08-14T18:45:14.798Z,1628966714.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:15.174Z,1628966715.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:15.174Z,1628966715.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:15.174Z,1628966715.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:15.175Z,1628966715.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:15.573Z,1628966715.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,0108F,186,80,80,75,FF
2021-08-14T18:45:15.573Z,1628966715.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:15.573Z,1628966715.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:15.575Z,1628966715.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:15.998Z,1628966715.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:16.817Z,1628966716.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,010C2,185,80,80,89,FF
2021-08-14T18:45:16.817Z,1628966716.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:16.820Z,1628966716.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184517.50*55

2021-08-14T18:45:17.223Z,1628966717.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.899994 m, bearing: 114.130569 deg, deltaT: 4.763953 s, approachRate: 0.642323 m/s, LOS rate: -0.139351 deg/s, posRepo size: 4
2021-08-14T18:45:18.129Z,1628966718.129 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:45:19.635Z,1628966719.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:20.048Z,1628966720.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:20.049Z,1628966720.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:20.050Z,1628966720.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:20.051Z,1628966720.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:20.429Z,1628966720.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,010C2,185,80,80,89,FF
2021-08-14T18:45:20.429Z,1628966720.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:20.429Z,1628966720.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:20.431Z,1628966720.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:20.832Z,1628966720.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:21.653Z,1628966721.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,010F4,186,80,80,85,FF
2021-08-14T18:45:21.654Z,1628966721.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:21.664Z,1628966721.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184522.36*53

2021-08-14T18:45:22.135Z,1628966722.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.899994 m, bearing: 115.431085 deg, deltaT: 4.888029 s, approachRate: 0.613744 m/s, LOS rate: 0.266061 deg/s, posRepo size: 4
2021-08-14T18:45:24.487Z,1628966724.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:24.871Z,1628966724.871 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:24.871Z,1628966724.871 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:24.871Z,1628966724.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:24.872Z,1628966724.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:25.269Z,1628966725.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,010F4,186,80,80,85,FF
2021-08-14T18:45:25.269Z,1628966725.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:25.269Z,1628966725.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:25.271Z,1628966725.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:25.705Z,1628966725.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:26.510Z,1628966726.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,01125,186,80,80,8B,FF
2021-08-14T18:45:26.510Z,1628966726.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:26.515Z,1628966726.515 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184527.20*51

2021-08-14T18:45:26.930Z,1628966726.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.839981 m, bearing: 116.450245 deg, deltaT: 4.831271 s, approachRate: 0.608533 m/s, LOS rate: 0.210951 deg/s, posRepo size: 4
2021-08-14T18:45:29.355Z,1628966729.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:29.737Z,1628966729.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:29.737Z,1628966729.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:29.737Z,1628966729.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:29.738Z,1628966729.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:30.126Z,1628966730.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,01125,186,80,80,8B,FF
2021-08-14T18:45:30.127Z,1628966730.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:30.127Z,1628966730.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:30.129Z,1628966730.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:30.526Z,1628966730.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:31.349Z,1628966731.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,01159,187,80,80,85,FF
2021-08-14T18:45:31.349Z,1628966731.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:31.353Z,1628966731.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184532.06*51

2021-08-14T18:45:31.779Z,1628966731.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.960007 m, bearing: 117.447698 deg, deltaT: 4.803809 s, approachRate: 0.649490 m/s, LOS rate: 0.207638 deg/s, posRepo size: 4
2021-08-14T18:45:34.195Z,1628966734.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:34.570Z,1628966734.570 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:34.570Z,1628966734.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:34.570Z,1628966734.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:34.571Z,1628966734.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:34.965Z,1628966734.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,01159,187,80,80,85,FF
2021-08-14T18:45:34.965Z,1628966734.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:34.965Z,1628966734.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:34.967Z,1628966734.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:35.385Z,1628966735.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:36.198Z,1628966736.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,0118B,186,80,80,95,FF
2021-08-14T18:45:36.198Z,1628966736.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:36.201Z,1628966736.201 [Micromodem](INFO): Nmea in: $SNTTA,0.156888,,,,184536.89*46

2021-08-14T18:45:36.617Z,1628966736.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.959976 m, bearing: 116.074639 deg, deltaT: 4.915772 s, approachRate: 0.610274 m/s, LOS rate: -0.279317 deg/s, posRepo size: 4
2021-08-14T18:45:38.218Z,1628966738.218 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T18:45:39.043Z,1628966739.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:39.409Z,1628966739.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:39.409Z,1628966739.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:39.409Z,1628966739.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:39.410Z,1628966739.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:39.813Z,1628966739.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,0118B,186,80,80,95,FF
2021-08-14T18:45:39.813Z,1628966739.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:39.814Z,1628966739.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:39.815Z,1628966739.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:40.218Z,1628966740.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:41.029Z,1628966741.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,011BD,185,80,80,90,FF
2021-08-14T18:45:41.029Z,1628966741.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:41.468Z,1628966741.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.959991 m, bearing: 116.089105 deg, deltaT: 4.771347 s, approachRate: 0.628756 m/s, LOS rate: 0.003032 deg/s, posRepo size: 4
2021-08-14T18:45:43.900Z,1628966743.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:44.273Z,1628966744.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:44.273Z,1628966744.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:44.273Z,1628966744.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:44.274Z,1628966744.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:44.673Z,1628966744.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,011BD,185,80,80,90,FF
2021-08-14T18:45:44.673Z,1628966744.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:44.674Z,1628966744.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:44.686Z,1628966744.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:45.076Z,1628966745.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:45.891Z,1628966745.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,011F0,186,80,80,91,FF
2021-08-14T18:45:45.891Z,1628966745.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:45.894Z,1628966745.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184546.61*53

2021-08-14T18:45:46.332Z,1628966746.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.019989 m, bearing: 116.170166 deg, deltaT: 4.883755 s, approachRate: 0.626567 m/s, LOS rate: 0.016598 deg/s, posRepo size: 4
2021-08-14T18:45:48.342Z,1628966748.342 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T18:45:48.776Z,1628966748.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:49.113Z,1628966749.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:49.113Z,1628966749.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:49.113Z,1628966749.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:49.114Z,1628966749.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:49.510Z,1628966749.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,011F0,186,80,80,91,FF
2021-08-14T18:45:49.510Z,1628966749.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:49.510Z,1628966749.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:49.513Z,1628966749.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:49.924Z,1628966749.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:50.757Z,1628966750.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,01223,186,80,80,7E,FF
2021-08-14T18:45:50.757Z,1628966750.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:50.760Z,1628966750.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184551.44*52

2021-08-14T18:45:51.169Z,1628966751.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.079987 m, bearing: 114.299568 deg, deltaT: 4.879003 s, approachRate: 0.627177 m/s, LOS rate: -0.383398 deg/s, posRepo size: 4
2021-08-14T18:45:53.587Z,1628966753.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:53.962Z,1628966753.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:53.962Z,1628966753.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:53.962Z,1628966753.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:53.963Z,1628966753.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:54.365Z,1628966754.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,01223,186,80,80,7E,FF
2021-08-14T18:45:54.365Z,1628966754.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:54.365Z,1628966754.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:54.367Z,1628966754.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:54.770Z,1628966754.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:45:55.609Z,1628966755.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,01256,186,80,80,84,FF
2021-08-14T18:45:55.609Z,1628966755.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:45:55.633Z,1628966755.633 [Micromodem](INFO): Nmea in: $SNTTA,,0.461716,,,184556.30*4B

2021-08-14T18:45:56.088Z,1628966756.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.139984 m, bearing: 115.169967 deg, deltaT: 4.887497 s, approachRate: 0.626087 m/s, LOS rate: 0.178087 deg/s, posRepo size: 4
2021-08-14T18:45:58.439Z,1628966758.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:45:58.801Z,1628966758.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:45:58.801Z,1628966758.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:45:58.802Z,1628966758.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:45:58.803Z,1628966758.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:45:59.205Z,1628966759.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,01256,186,80,80,84,FF
2021-08-14T18:45:59.205Z,1628966759.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:45:59.205Z,1628966759.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:45:59.207Z,1628966759.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:45:59.619Z,1628966759.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:00.421Z,1628966760.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,0128A,186,80,80,89,FF
2021-08-14T18:46:00.422Z,1628966760.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:00.443Z,1628966760.443 [Micromodem](INFO): Nmea in: $SNTTA,0.356655,0.356274,,,184601.13*51

2021-08-14T18:46:00.862Z,1628966760.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.259995 m, bearing: 116.298164 deg, deltaT: 4.817685 s, approachRate: 0.647616 m/s, LOS rate: 0.234178 deg/s, posRepo size: 4
2021-08-14T18:46:03.278Z,1628966763.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:03.649Z,1628966763.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:03.649Z,1628966763.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:03.649Z,1628966763.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:03.650Z,1628966763.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:04.093Z,1628966764.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,0128A,186,80,80,89,FF
2021-08-14T18:46:04.093Z,1628966764.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:04.093Z,1628966764.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:04.095Z,1628966764.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:04.503Z,1628966764.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:05.326Z,1628966765.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,012BB,186,80,80,88,FF
2021-08-14T18:46:05.327Z,1628966765.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:05.331Z,1628966765.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184606.02*51

2021-08-14T18:46:05.774Z,1628966765.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.199982 m, bearing: 115.133357 deg, deltaT: 4.854534 s, approachRate: 0.605617 m/s, LOS rate: -0.239942 deg/s, posRepo size: 4
2021-08-14T18:46:08.166Z,1628966768.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:08.546Z,1628966768.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:08.546Z,1628966768.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:08.546Z,1628966768.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:08.547Z,1628966768.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:08.945Z,1628966768.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,012BB,186,80,80,88,FF
2021-08-14T18:46:08.945Z,1628966768.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:08.945Z,1628966768.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:08.947Z,1628966768.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:09.356Z,1628966769.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:10.189Z,1628966770.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,012EF,186,80,80,8A,FF
2021-08-14T18:46:10.190Z,1628966770.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:10.200Z,1628966770.200 [Micromodem](INFO): Nmea in: $SNTTA,0.171172,0.484901,,,184610.88*57

2021-08-14T18:46:10.604Z,1628966770.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.320007 m, bearing: 114.456041 deg, deltaT: 4.911422 s, approachRate: 0.635259 m/s, LOS rate: -0.137906 deg/s, posRepo size: 4
2021-08-14T18:46:13.014Z,1628966773.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:13.377Z,1628966773.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:13.377Z,1628966773.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:13.377Z,1628966773.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:13.378Z,1628966773.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:13.777Z,1628966773.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,012EF,186,80,80,8A,FF
2021-08-14T18:46:13.777Z,1628966773.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:13.777Z,1628966773.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:13.779Z,1628966773.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:14.200Z,1628966774.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:15.013Z,1628966775.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,01322,186,80,80,92,FF
2021-08-14T18:46:15.013Z,1628966775.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:15.016Z,1628966775.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184615.71*57

2021-08-14T18:46:15.435Z,1628966775.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.380005 m, bearing: 115.513211 deg, deltaT: 4.831527 s, approachRate: 0.633340 m/s, LOS rate: 0.218807 deg/s, posRepo size: 4
2021-08-14T18:46:17.867Z,1628966777.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:18.225Z,1628966778.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:18.225Z,1628966778.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:18.225Z,1628966778.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:18.226Z,1628966778.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:18.255Z,1628966778.255 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:46:18.629Z,1628966778.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,01322,186,80,80,92,FF
2021-08-14T18:46:18.629Z,1628966778.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:18.629Z,1628966778.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:18.631Z,1628966778.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:19.037Z,1628966779.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:19.861Z,1628966779.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,01354,186,80,80,89,FF
2021-08-14T18:46:19.861Z,1628966779.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:19.864Z,1628966779.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184620.56*54

2021-08-14T18:46:20.300Z,1628966780.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.379974 m, bearing: 115.172207 deg, deltaT: 4.824080 s, approachRate: 0.621874 m/s, LOS rate: -0.070688 deg/s, posRepo size: 4
2021-08-14T18:46:22.731Z,1628966782.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:23.091Z,1628966783.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:23.092Z,1628966783.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:23.095Z,1628966783.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:23.100Z,1628966783.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:23.489Z,1628966783.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,01354,186,80,80,89,FF
2021-08-14T18:46:23.489Z,1628966783.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:23.489Z,1628966783.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:23.491Z,1628966783.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:23.894Z,1628966783.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:24.729Z,1628966784.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,01386,186,80,80,90,FF
2021-08-14T18:46:24.729Z,1628966784.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:24.733Z,1628966784.733 [Micromodem](INFO): Nmea in: $SNTTA,,0.213417,,,184625.42*48

2021-08-14T18:46:25.124Z,1628966785.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.379974 m, bearing: 115.201468 deg, deltaT: 4.813348 s, approachRate: 0.623267 m/s, LOS rate: 0.006079 deg/s, posRepo size: 4
2021-08-14T18:46:27.561Z,1628966787.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:27.937Z,1628966787.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:27.937Z,1628966787.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:27.937Z,1628966787.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:27.938Z,1628966787.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:28.389Z,1628966788.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,01386,186,80,80,90,FF
2021-08-14T18:46:28.389Z,1628966788.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:28.389Z,1628966788.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:28.391Z,1628966788.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:28.788Z,1628966788.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:29.617Z,1628966789.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,013BA,186,80,80,94,FF
2021-08-14T18:46:29.618Z,1628966789.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:29.621Z,1628966789.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184630.32*57

2021-08-14T18:46:30.091Z,1628966790.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.500000 m, bearing: 114.470412 deg, deltaT: 4.885014 s, approachRate: 0.638693 m/s, LOS rate: -0.149653 deg/s, posRepo size: 4
2021-08-14T18:46:32.466Z,1628966792.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:32.825Z,1628966792.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:32.825Z,1628966792.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:32.825Z,1628966792.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:32.826Z,1628966792.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:33.225Z,1628966793.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,013BA,186,80,80,94,FF
2021-08-14T18:46:33.225Z,1628966793.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:33.226Z,1628966793.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:33.227Z,1628966793.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:33.645Z,1628966793.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:34.078Z,1628966794.078 [Micromodem](INFO): Nmea in: $SNTTA,0.306869,0.306913,,,184635.16*58

2021-08-14T18:46:34.441Z,1628966794.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,013EC,187,80,80,8E,FF
2021-08-14T18:46:34.441Z,1628966794.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:34.898Z,1628966794.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.500000 m, bearing: 114.928342 deg, deltaT: 4.814902 s, approachRate: 0.623066 m/s, LOS rate: 0.095107 deg/s, posRepo size: 4
2021-08-14T18:46:37.298Z,1628966797.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:37.684Z,1628966797.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:37.685Z,1628966797.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:37.685Z,1628966797.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:37.686Z,1628966797.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:38.125Z,1628966798.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,013EC,187,80,80,8E,FF
2021-08-14T18:46:38.125Z,1628966798.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:38.125Z,1628966798.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:38.127Z,1628966798.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:38.499Z,1628966798.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:39.295Z,1628966799.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,0141C,186,80,80,89,FF
2021-08-14T18:46:39.296Z,1628966799.296 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:39.302Z,1628966799.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184640.06*57

2021-08-14T18:46:39.763Z,1628966799.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.379974 m, bearing: 114.806273 deg, deltaT: 4.909174 s, approachRate: 0.586652 m/s, LOS rate: -0.024866 deg/s, posRepo size: 4
2021-08-14T18:46:39.764Z,1628966799.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 271.38 m. Resuming terminal guidance.
2021-08-14T18:46:39.764Z,1628966799.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T18:46:42.165Z,1628966802.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:42.522Z,1628966802.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:42.522Z,1628966802.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:42.522Z,1628966802.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:42.523Z,1628966802.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:42.933Z,1628966802.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,0141C,186,80,80,89,FF
2021-08-14T18:46:42.933Z,1628966802.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:42.934Z,1628966802.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:42.935Z,1628966802.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:43.409Z,1628966803.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:44.201Z,1628966804.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,01452,186,80,80,89,FF
2021-08-14T18:46:44.201Z,1628966804.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:44.229Z,1628966804.229 [Micromodem](INFO): Nmea in: $SNTTA,0.452831,0.451975,,,184644.86*59

2021-08-14T18:46:44.645Z,1628966804.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.619995 m, bearing: 115.387440 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T18:46:44.646Z,1628966804.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 115.387440deg and heading rate command to 0 deg/s.
2021-08-14T18:46:47.061Z,1628966807.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:47.445Z,1628966807.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:47.445Z,1628966807.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:47.445Z,1628966807.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:47.446Z,1628966807.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:47.837Z,1628966807.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,01452,186,80,80,89,FF
2021-08-14T18:46:47.837Z,1628966807.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:47.837Z,1628966807.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:47.839Z,1628966807.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:48.253Z,1628966808.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:49.081Z,1628966809.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,01486,187,80,80,8A,FF
2021-08-14T18:46:49.082Z,1628966809.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:49.084Z,1628966809.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184649.77*58

2021-08-14T18:46:49.517Z,1628966809.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.739990 m, bearing: 118.827328 deg, deltaT: 4.809339 s, approachRate: 0.648737 m/s, LOS rate: 0.715252 deg/s, posRepo size: 2
2021-08-14T18:46:49.521Z,1628966809.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.739990 m,
      bearing: 118.827328 deg,
      approachRate: 0.648737 m/s,
      LOS rate: 0.715252 deg/s,
      cmd update: 2.861007 deg/s,
      cmd heading: 115.387440 deg,
      new cmd heading: 115.387440 deg.

2021-08-14T18:46:51.925Z,1628966811.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:52.287Z,1628966812.287 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:52.287Z,1628966812.287 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:52.287Z,1628966812.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:52.288Z,1628966812.288 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:52.705Z,1628966812.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,01486,187,80,80,8A,FF
2021-08-14T18:46:52.705Z,1628966812.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:52.705Z,1628966812.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:52.707Z,1628966812.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:53.116Z,1628966813.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:53.917Z,1628966813.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,014B4,186,80,80,98,FF
2021-08-14T18:46:53.917Z,1628966813.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:53.920Z,1628966813.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184654.64*56

2021-08-14T18:46:54.361Z,1628966814.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.500000 m, bearing: 127.119629 deg, deltaT: 4.834380 s, approachRate: 0.570913 m/s, LOS rate: 1.715277 deg/s, posRepo size: 3
2021-08-14T18:46:54.363Z,1628966814.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.500000 m,
      bearing: 127.119629 deg,
      approachRate: 0.570913 m/s,
      LOS rate: 1.715277 deg/s,
      cmd update: 6.861108 deg/s,
      cmd heading: 129.218638 deg,
      new cmd heading: 130.402308 deg.

2021-08-14T18:46:56.769Z,1628966816.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:46:57.125Z,1628966817.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:46:57.125Z,1628966817.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:46:57.125Z,1628966817.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:46:57.126Z,1628966817.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:46:57.545Z,1628966817.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,014B4,186,80,80,98,FF
2021-08-14T18:46:57.545Z,1628966817.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:46:57.545Z,1628966817.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:46:57.547Z,1628966817.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:46:57.945Z,1628966817.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:46:58.765Z,1628966818.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,014E9,186,80,80,4A,FF
2021-08-14T18:46:58.765Z,1628966818.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:46:58.793Z,1628966818.793 [Micromodem](INFO): Nmea in: $SNTTA,0.191338,,,,184659.48*4A

2021-08-14T18:46:59.200Z,1628966819.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.679993 m, bearing: 142.095515 deg, deltaT: 4.888115 s, approachRate: 0.650556 m/s, LOS rate: 3.063734 deg/s, posRepo size: 4
2021-08-14T18:46:59.202Z,1628966819.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.679993 m,
      bearing: 142.095515 deg,
      approachRate: 0.650556 m/s,
      LOS rate: 3.063734 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.646236 deg,
      new cmd heading: 165.150190 deg.

2021-08-14T18:47:00.790Z,1628966820.790 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:47:01.611Z,1628966821.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:01.974Z,1628966821.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:01.974Z,1628966821.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:01.974Z,1628966821.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:01.975Z,1628966821.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:02.381Z,1628966822.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,014E9,186,80,80,4A,FF
2021-08-14T18:47:02.381Z,1628966822.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:02.381Z,1628966822.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:02.383Z,1628966822.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:02.793Z,1628966822.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:03.625Z,1628966823.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D18,000,0150B,189,80,80,83,FF
2021-08-14T18:47:03.625Z,1628966823.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:03.628Z,1628966823.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184704.31*52

2021-08-14T18:47:04.086Z,1628966824.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.720001 m, bearing: 191.804908 deg, deltaT: 4.813449 s, approachRate: 0.423814 m/s, LOS rate: 10.327188 deg/s, posRepo size: 4
2021-08-14T18:47:04.089Z,1628966824.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.720001 m,
      bearing: 191.804908 deg,
      approachRate: 0.423814 m/s,
      LOS rate: 10.327188 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 220.594466 deg,
      new cmd heading: 225.835346 deg.

2021-08-14T18:47:06.481Z,1628966826.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:06.825Z,1628966826.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:06.825Z,1628966826.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:06.825Z,1628966826.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:06.826Z,1628966826.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:07.237Z,1628966827.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D18,000,0150B,189,80,80,83,FF
2021-08-14T18:47:07.238Z,1628966827.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:07.238Z,1628966827.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:07.240Z,1628966827.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:07.636Z,1628966827.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:08.441Z,1628966828.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,01524,189,80,80,76,FF
2021-08-14T18:47:08.441Z,1628966828.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:08.445Z,1628966828.445 [Micromodem](INFO): Nmea in: $SNTTA,0.300719,0.340219,,,184709.17*5A

2021-08-14T18:47:08.886Z,1628966828.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.220001 m, bearing: 137.878092 deg, deltaT: 4.864978 s, approachRate: 0.308326 m/s, LOS rate: -11.084699 deg/s, posRepo size: 4
2021-08-14T18:47:08.889Z,1628966828.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.220001 m,
      bearing: 137.878092 deg,
      approachRate: 0.308326 m/s,
      LOS rate: -11.084699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 278.847700 deg,
      new cmd heading: 283.458004 deg.

2021-08-14T18:47:11.298Z,1628966831.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:11.680Z,1628966831.680 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:11.680Z,1628966831.680 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:11.681Z,1628966831.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:11.683Z,1628966831.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:12.113Z,1628966832.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,01524,189,80,80,76,FF
2021-08-14T18:47:12.113Z,1628966832.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:12.113Z,1628966832.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:12.115Z,1628966832.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:12.507Z,1628966832.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:13.290Z,1628966833.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,01528,185,80,80,B4,FF
2021-08-14T18:47:13.291Z,1628966833.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:13.298Z,1628966833.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184714.05*54

2021-08-14T18:47:13.762Z,1628966833.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.459991 m, bearing: 219.438870 deg, deltaT: 4.841175 s, approachRate: 0.049573 m/s, LOS rate: 16.847310 deg/s, posRepo size: 4
2021-08-14T18:47:13.762Z,1628966833.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.847310 deg/s. Setting heading cmd to target bearing of 219.438870deg and heading rate command to 0 deg/s.
2021-08-14T18:47:15.858Z,1628966835.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:16.121Z,1628966836.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:16.121Z,1628966836.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:16.121Z,1628966836.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:16.122Z,1628966836.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:16.522Z,1628966836.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,01528,185,80,80,B4,FF
2021-08-14T18:47:16.522Z,1628966836.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:16.523Z,1628966836.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:16.526Z,1628966836.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:16.936Z,1628966836.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:17.765Z,1628966837.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0151E,189,80,80,AC,FF
2021-08-14T18:47:17.765Z,1628966837.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:17.768Z,1628966837.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184718.46*5F

2021-08-14T18:47:18.199Z,1628966838.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.859985 m, bearing: 276.786914 deg, deltaT: 4.439097 s, approachRate: -0.135164 m/s, LOS rate: 12.918854 deg/s, posRepo size: 4
2021-08-14T18:47:18.200Z,1628966838.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.918854 deg/s. Setting heading cmd to target bearing of 276.786914deg and heading rate command to 0 deg/s.
2021-08-14T18:47:20.599Z,1628966840.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:20.965Z,1628966840.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:20.965Z,1628966840.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:20.965Z,1628966840.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:20.966Z,1628966840.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:21.369Z,1628966841.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0151E,189,80,80,AC,FF
2021-08-14T18:47:21.369Z,1628966841.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:21.369Z,1628966841.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:21.371Z,1628966841.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:21.781Z,1628966841.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:22.187Z,1628966842.187 [Micromodem](INFO): Nmea in: $SNTTA,0.273145,0.273145,,,184723.30*56

2021-08-14T18:47:22.599Z,1628966842.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC8,000,01504,189,80,80,B3,FF
2021-08-14T18:47:22.599Z,1628966842.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:23.026Z,1628966843.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.299988 m, bearing: 282.429442 deg, deltaT: 4.823540 s, approachRate: -0.323413 m/s, LOS rate: 1.169790 deg/s, posRepo size: 4
2021-08-14T18:47:23.028Z,1628966843.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.299988 m,
      bearing: 282.429442 deg,
      approachRate: -0.323413 m/s,
      LOS rate: 1.169790 deg/s,
      cmd update: 4.679160 deg/s,
      cmd heading: 276.786914 deg,
      new cmd heading: 276.786914 deg.

2021-08-14T18:47:25.427Z,1628966845.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:25.821Z,1628966845.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:25.821Z,1628966845.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:25.822Z,1628966845.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:25.823Z,1628966845.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:26.217Z,1628966846.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC8,000,01504,189,80,80,B3,FF
2021-08-14T18:47:26.217Z,1628966846.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:26.217Z,1628966846.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:26.219Z,1628966846.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:26.641Z,1628966846.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:27.460Z,1628966847.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,014DF,186,80,80,86,FF
2021-08-14T18:47:27.461Z,1628966847.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:27.464Z,1628966847.464 [Micromodem](INFO): Nmea in: $SNTTA,0.190766,,,,184728.15*4B

2021-08-14T18:47:27.870Z,1628966847.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.079987 m, bearing: 229.813326 deg, deltaT: 4.862409 s, approachRate: -0.456564 m/s, LOS rate: -10.820998 deg/s, posRepo size: 4
2021-08-14T18:47:27.881Z,1628966847.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.079987 m,
      bearing: 229.813326 deg,
      approachRate: -0.456564 m/s,
      LOS rate: -10.820998 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 299.539815 deg,
      new cmd heading: 301.369039 deg.

2021-08-14T18:47:30.318Z,1628966850.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:30.753Z,1628966850.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:30.753Z,1628966850.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:30.753Z,1628966850.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:30.754Z,1628966850.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:31.073Z,1628966851.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,014DF,186,80,80,86,FF
2021-08-14T18:47:31.073Z,1628966851.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:31.073Z,1628966851.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:31.075Z,1628966851.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:31.481Z,1628966851.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:32.301Z,1628966852.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,014AF,186,80,80,81,FF
2021-08-14T18:47:32.301Z,1628966852.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:32.328Z,1628966852.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184733.01*55

2021-08-14T18:47:32.747Z,1628966852.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.199982 m, bearing: 284.178954 deg, deltaT: 4.905783 s, approachRate: -0.587063 m/s, LOS rate: 11.081947 deg/s, posRepo size: 4
2021-08-14T18:47:32.753Z,1628966852.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.199982 m,
      bearing: 284.178954 deg,
      approachRate: -0.587063 m/s,
      LOS rate: 11.081947 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 240.769309 deg,
      new cmd heading: 236.332273 deg.

2021-08-14T18:47:35.123Z,1628966855.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:35.527Z,1628966855.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:35.527Z,1628966855.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:35.527Z,1628966855.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:35.528Z,1628966855.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:35.909Z,1628966855.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,014AF,186,80,80,81,FF
2021-08-14T18:47:35.909Z,1628966855.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:35.909Z,1628966855.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:35.911Z,1628966855.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:36.324Z,1628966856.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:37.142Z,1628966857.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,01479,185,80,80,A7,FF
2021-08-14T18:47:37.142Z,1628966857.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:37.145Z,1628966857.145 [Micromodem](INFO): Nmea in: $SNTTA,0.187216,,,,184737.84*49

2021-08-14T18:47:37.580Z,1628966857.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.959991 m, bearing: 280.732250 deg, deltaT: 4.810525 s, approachRate: -0.673521 m/s, LOS rate: -0.716492 deg/s, posRepo size: 4
2021-08-14T18:47:37.582Z,1628966857.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.959991 m,
      bearing: 280.732250 deg,
      approachRate: -0.673521 m/s,
      LOS rate: -0.716492 deg/s,
      cmd update: -2.865970 deg/s,
      cmd heading: 298.256823 deg,
      new cmd heading: 303.202971 deg.

2021-08-14T18:47:39.986Z,1628966859.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:40.369Z,1628966860.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:40.369Z,1628966860.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:40.369Z,1628966860.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:40.370Z,1628966860.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:40.761Z,1628966860.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,01479,185,80,80,A7,FF
2021-08-14T18:47:40.761Z,1628966860.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:40.761Z,1628966860.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:40.763Z,1628966860.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:41.188Z,1628966861.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:42.013Z,1628966862.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,01442,186,80,80,8A,FF
2021-08-14T18:47:42.014Z,1628966862.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:42.026Z,1628966862.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184742.70*55

2021-08-14T18:47:42.442Z,1628966862.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.660004 m, bearing: 282.231831 deg, deltaT: 4.924277 s, approachRate: -0.670147 m/s, LOS rate: 0.304528 deg/s, posRepo size: 4
2021-08-14T18:47:42.444Z,1628966862.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.660004 m,
      bearing: 282.231831 deg,
      approachRate: -0.670147 m/s,
      LOS rate: 0.304528 deg/s,
      cmd update: 1.218113 deg/s,
      cmd heading: 284.074735 deg,
      new cmd heading: 283.140429 deg.

2021-08-14T18:47:44.842Z,1628966864.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:45.227Z,1628966865.227 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:45.227Z,1628966865.227 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:45.227Z,1628966865.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:45.228Z,1628966865.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:45.617Z,1628966865.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,01442,186,80,80,8A,FF
2021-08-14T18:47:45.617Z,1628966865.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:45.617Z,1628966865.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:45.619Z,1628966865.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:46.090Z,1628966866.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:46.865Z,1628966866.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,0140B,183,80,80,A8,FF
2021-08-14T18:47:46.865Z,1628966866.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:46.869Z,1628966866.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184747.55*57

2021-08-14T18:47:47.289Z,1628966867.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.359985 m, bearing: 282.998916 deg, deltaT: 4.774235 s, approachRate: -0.691214 m/s, LOS rate: 0.160672 deg/s, posRepo size: 4
2021-08-14T18:47:47.291Z,1628966867.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.359985 m,
      bearing: 282.998916 deg,
      approachRate: -0.691214 m/s,
      LOS rate: 0.160672 deg/s,
      cmd update: 0.642687 deg/s,
      cmd heading: 289.895168 deg,
      new cmd heading: 290.375916 deg.

2021-08-14T18:47:49.744Z,1628966869.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:50.113Z,1628966870.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:50.113Z,1628966870.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:50.113Z,1628966870.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:50.114Z,1628966870.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:50.494Z,1628966870.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,0140B,183,80,80,A8,FF
2021-08-14T18:47:50.494Z,1628966870.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:50.494Z,1628966870.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:50.497Z,1628966870.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:50.900Z,1628966870.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:51.757Z,1628966871.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,013CF,186,80,80,A6,FF
2021-08-14T18:47:51.757Z,1628966871.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:51.760Z,1628966871.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184752.43*54

2021-08-14T18:47:52.189Z,1628966872.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.759979 m, bearing: 282.685684 deg, deltaT: 4.891630 s, approachRate: -0.735952 m/s, LOS rate: -0.064034 deg/s, posRepo size: 4
2021-08-14T18:47:52.191Z,1628966872.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.759979 m,
      bearing: 282.685684 deg,
      approachRate: -0.735952 m/s,
      LOS rate: -0.064034 deg/s,
      cmd update: -0.256138 deg/s,
      cmd heading: 293.038950 deg,
      new cmd heading: 293.297905 deg.

2021-08-14T18:47:54.586Z,1628966874.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:54.957Z,1628966874.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:54.957Z,1628966874.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:54.958Z,1628966874.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:54.958Z,1628966874.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:47:55.349Z,1628966875.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,013CF,186,80,80,A6,FF
2021-08-14T18:47:55.349Z,1628966875.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:47:55.349Z,1628966875.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:47:55.351Z,1628966875.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:47:55.784Z,1628966875.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:47:56.183Z,1628966876.183 [Micromodem](INFO): Nmea in: $SNTTA,0.175476,0.283350,,,184757.28*55

2021-08-14T18:47:56.581Z,1628966876.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,01397,186,80,80,A0,FF
2021-08-14T18:47:56.581Z,1628966876.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:47:57.042Z,1628966877.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.399994 m, bearing: 282.520967 deg, deltaT: 4.838372 s, approachRate: -0.694445 m/s, LOS rate: -0.034044 deg/s, posRepo size: 4
2021-08-14T18:47:57.046Z,1628966877.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.399994 m,
      bearing: 282.520967 deg,
      approachRate: -0.694445 m/s,
      LOS rate: -0.034044 deg/s,
      cmd update: -0.136175 deg/s,
      cmd heading: 291.804797 deg,
      new cmd heading: 291.692644 deg.

2021-08-14T18:47:59.411Z,1628966879.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:47:59.794Z,1628966879.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:47:59.794Z,1628966879.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:47:59.794Z,1628966879.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:47:59.795Z,1628966879.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:00.201Z,1628966880.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,01397,186,80,80,A0,FF
2021-08-14T18:48:00.201Z,1628966880.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:00.201Z,1628966880.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:00.203Z,1628966880.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:00.619Z,1628966880.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:01.449Z,1628966881.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,0135F,186,80,80,9F,FF
2021-08-14T18:48:01.450Z,1628966881.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:01.453Z,1628966881.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184802.14*5C

2021-08-14T18:48:01.867Z,1628966881.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.039978 m, bearing: 283.338814 deg, deltaT: 4.869959 s, approachRate: -0.689947 m/s, LOS rate: 0.167937 deg/s, posRepo size: 4
2021-08-14T18:48:01.869Z,1628966881.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.039978 m,
      bearing: 283.338814 deg,
      approachRate: -0.689947 m/s,
      LOS rate: 0.167937 deg/s,
      cmd update: 0.671748 deg/s,
      cmd heading: 291.142378 deg,
      new cmd heading: 291.088118 deg.

2021-08-14T18:48:04.284Z,1628966884.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:04.641Z,1628966884.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:04.641Z,1628966884.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:04.641Z,1628966884.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:04.642Z,1628966884.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:05.049Z,1628966885.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,0135F,186,80,80,9F,FF
2021-08-14T18:48:05.049Z,1628966885.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:05.049Z,1628966885.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:05.051Z,1628966885.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:05.470Z,1628966885.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:06.263Z,1628966886.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,01326,186,80,80,96,FF
2021-08-14T18:48:06.264Z,1628966886.264 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:06.269Z,1628966886.269 [Micromodem](INFO): Nmea in: $SNTTA,0.391513,0.391788,,,184806.98*5C

2021-08-14T18:48:06.727Z,1628966886.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.619995 m, bearing: 283.159644 deg, deltaT: 4.871210 s, approachRate: -0.702081 m/s, LOS rate: -0.036781 deg/s, posRepo size: 4
2021-08-14T18:48:06.730Z,1628966886.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.619995 m,
      bearing: 283.159644 deg,
      approachRate: -0.702081 m/s,
      LOS rate: -0.036781 deg/s,
      cmd update: -0.147125 deg/s,
      cmd heading: 294.425885 deg,
      new cmd heading: 294.674926 deg.

2021-08-14T18:48:09.108Z,1628966889.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:09.489Z,1628966889.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:09.489Z,1628966889.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:09.489Z,1628966889.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:09.490Z,1628966889.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:09.893Z,1628966889.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,01326,186,80,80,96,FF
2021-08-14T18:48:09.893Z,1628966889.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:09.893Z,1628966889.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:09.895Z,1628966889.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:10.304Z,1628966890.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:11.125Z,1628966891.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,012EB,185,80,80,8F,FF
2021-08-14T18:48:11.125Z,1628966891.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:11.129Z,1628966891.129 [Micromodem](INFO): Nmea in: $SNTTA,0.171381,,,,184811.82*42

2021-08-14T18:48:11.548Z,1628966891.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.079987 m, bearing: 282.706611 deg, deltaT: 4.826010 s, approachRate: -0.733527 m/s, LOS rate: -0.093873 deg/s, posRepo size: 4
2021-08-14T18:48:11.550Z,1628966891.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.079987 m,
      bearing: 282.706611 deg,
      approachRate: -0.733527 m/s,
      LOS rate: -0.093873 deg/s,
      cmd update: -0.375493 deg/s,
      cmd heading: 293.719927 deg,
      new cmd heading: 293.662098 deg.

2021-08-14T18:48:13.962Z,1628966893.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:14.337Z,1628966894.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:14.337Z,1628966894.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:14.337Z,1628966894.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:14.338Z,1628966894.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:14.745Z,1628966894.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,012EB,185,80,80,8F,FF
2021-08-14T18:48:14.745Z,1628966894.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:14.745Z,1628966894.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:14.747Z,1628966894.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:15.152Z,1628966895.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:15.973Z,1628966895.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,012AF,186,80,80,A1,FF
2021-08-14T18:48:15.973Z,1628966895.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:15.976Z,1628966895.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184816.68*52

2021-08-14T18:48:16.405Z,1628966896.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.479996 m, bearing: 283.347010 deg, deltaT: 4.887207 s, approachRate: -0.736615 m/s, LOS rate: 0.131036 deg/s, posRepo size: 4
2021-08-14T18:48:16.407Z,1628966896.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.479996 m,
      bearing: 283.347010 deg,
      approachRate: -0.736615 m/s,
      LOS rate: 0.131036 deg/s,
      cmd update: 0.524143 deg/s,
      cmd heading: 291.871156 deg,
      new cmd heading: 291.748539 deg.

2021-08-14T18:48:18.833Z,1628966898.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:19.189Z,1628966899.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:19.189Z,1628966899.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:19.189Z,1628966899.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:19.190Z,1628966899.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:19.589Z,1628966899.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,012AF,186,80,80,A1,FF
2021-08-14T18:48:19.589Z,1628966899.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:19.589Z,1628966899.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:19.591Z,1628966899.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:19.997Z,1628966899.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:20.833Z,1628966900.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,01275,186,80,80,A4,FF
2021-08-14T18:48:20.834Z,1628966900.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:20.837Z,1628966900.837 [Micromodem](INFO): Nmea in: $SNTTA,0.121728,,,,184821.52*4E

2021-08-14T18:48:21.245Z,1628966901.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.999985 m, bearing: 283.821927 deg, deltaT: 4.847043 s, approachRate: -0.717966 m/s, LOS rate: 0.097981 deg/s, posRepo size: 4
2021-08-14T18:48:21.247Z,1628966901.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.999985 m,
      bearing: 283.821927 deg,
      approachRate: -0.717966 m/s,
      LOS rate: 0.097981 deg/s,
      cmd update: 0.391923 deg/s,
      cmd heading: 294.406806 deg,
      new cmd heading: 294.579110 deg.

2021-08-14T18:48:23.706Z,1628966903.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:24.045Z,1628966904.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:24.045Z,1628966904.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:24.046Z,1628966904.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:24.047Z,1628966904.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:24.441Z,1628966904.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,01275,186,80,80,A4,FF
2021-08-14T18:48:24.441Z,1628966904.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:24.441Z,1628966904.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:24.443Z,1628966904.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:24.854Z,1628966904.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:25.695Z,1628966905.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,01239,186,80,80,9D,FF
2021-08-14T18:48:25.695Z,1628966905.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:25.698Z,1628966905.698 [Micromodem](INFO): Nmea in: $SNTTA,0.161522,,,,184826.38*49

2021-08-14T18:48:26.165Z,1628966906.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.399994 m, bearing: 283.597050 deg, deltaT: 4.852275 s, approachRate: -0.741918 m/s, LOS rate: -0.046345 deg/s, posRepo size: 4
2021-08-14T18:48:26.167Z,1628966906.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.399994 m,
      bearing: 283.597050 deg,
      approachRate: -0.741918 m/s,
      LOS rate: -0.046345 deg/s,
      cmd update: -0.185379 deg/s,
      cmd heading: 296.305153 deg,
      new cmd heading: 296.463818 deg.

2021-08-14T18:48:28.537Z,1628966908.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:28.885Z,1628966908.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:28.885Z,1628966908.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:28.885Z,1628966908.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:28.886Z,1628966908.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:29.285Z,1628966909.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,01239,186,80,80,9D,FF
2021-08-14T18:48:29.285Z,1628966909.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:29.285Z,1628966909.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:29.287Z,1628966909.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:29.720Z,1628966909.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:30.135Z,1628966910.135 [Micromodem](INFO): Nmea in: $SNTTA,0.315544,0.275231,,,184831.22*5B

2021-08-14T18:48:30.498Z,1628966910.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,01200,186,80,80,A2,FF
2021-08-14T18:48:30.498Z,1628966910.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:30.941Z,1628966910.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.979996 m, bearing: 283.029461 deg, deltaT: 4.749781 s, approachRate: -0.720033 m/s, LOS rate: -0.119498 deg/s, posRepo size: 4
2021-08-14T18:48:30.943Z,1628966910.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.979996 m,
      bearing: 283.029461 deg,
      approachRate: -0.720033 m/s,
      LOS rate: -0.119498 deg/s,
      cmd update: -0.477991 deg/s,
      cmd heading: 295.421657 deg,
      new cmd heading: 295.344632 deg.

2021-08-14T18:48:33.353Z,1628966913.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:33.741Z,1628966913.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:33.741Z,1628966913.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:33.742Z,1628966913.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:33.743Z,1628966913.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:34.154Z,1628966914.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,01200,186,80,80,A2,FF
2021-08-14T18:48:34.155Z,1628966914.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:34.155Z,1628966914.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:34.157Z,1628966914.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:34.553Z,1628966914.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:35.365Z,1628966915.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,011C7,185,80,80,9A,FF
2021-08-14T18:48:35.365Z,1628966915.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:35.368Z,1628966915.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184836.09*57

2021-08-14T18:48:35.796Z,1628966915.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.559998 m, bearing: 282.856356 deg, deltaT: 4.856644 s, approachRate: -0.704190 m/s, LOS rate: -0.035643 deg/s, posRepo size: 4
2021-08-14T18:48:35.798Z,1628966915.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.559998 m,
      bearing: 282.856356 deg,
      approachRate: -0.704190 m/s,
      LOS rate: -0.035643 deg/s,
      cmd update: -0.142571 deg/s,
      cmd heading: 293.099323 deg,
      new cmd heading: 292.902694 deg.

2021-08-14T18:48:38.291Z,1628966918.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:38.589Z,1628966918.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:38.589Z,1628966918.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:38.590Z,1628966918.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:38.591Z,1628966918.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:38.985Z,1628966918.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,011C7,185,80,80,9A,FF
2021-08-14T18:48:38.985Z,1628966918.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:38.985Z,1628966918.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:38.987Z,1628966918.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:39.397Z,1628966919.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:40.193Z,1628966920.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,0118D,186,80,80,94,FF
2021-08-14T18:48:40.193Z,1628966920.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:40.197Z,1628966920.197 [Micromodem](INFO): Nmea in: $SNTTA,0.464086,0.463942,,,184840.92*52

2021-08-14T18:48:40.655Z,1628966920.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.079987 m, bearing: 283.314990 deg, deltaT: 4.888458 s, approachRate: -0.711883 m/s, LOS rate: 0.093820 deg/s, posRepo size: 4
2021-08-14T18:48:40.664Z,1628966920.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.079987 m,
      bearing: 283.314990 deg,
      approachRate: -0.711883 m/s,
      LOS rate: 0.093820 deg/s,
      cmd update: 0.375279 deg/s,
      cmd heading: 292.403557 deg,
      new cmd heading: 292.348371 deg.

2021-08-14T18:48:43.058Z,1628966923.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:43.425Z,1628966923.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:43.425Z,1628966923.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:43.425Z,1628966923.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:43.426Z,1628966923.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:43.833Z,1628966923.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,0118D,186,80,80,94,FF
2021-08-14T18:48:43.833Z,1628966923.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:43.833Z,1628966923.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:43.835Z,1628966923.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:44.241Z,1628966924.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:44.641Z,1628966924.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,00808,186,80,80,92,FF
2021-08-14T18:48:44.641Z,1628966924.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:44.687Z,1628966924.687 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:48:45.072Z,1628966925.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.860001 m, bearing: 283.708983 deg, deltaT: 4.439269 s, approachRate: -32.937851 m/s, LOS rate: 0.088752 deg/s, posRepo size: 4
2021-08-14T18:48:45.074Z,1628966925.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.860001 m,
      bearing: 283.708983 deg,
      approachRate: -32.937851 m/s,
      LOS rate: 0.088752 deg/s,
      cmd update: 0.355007 deg/s,
      cmd heading: 294.072626 deg,
      new cmd heading: 294.207570 deg.

2021-08-14T18:48:47.502Z,1628966927.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:47.869Z,1628966927.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:47.869Z,1628966927.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:47.869Z,1628966927.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:47.870Z,1628966927.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:48.273Z,1628966928.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,00808,186,80,80,92,FF
2021-08-14T18:48:48.273Z,1628966928.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:48.273Z,1628966928.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:48.275Z,1628966928.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:48.703Z,1628966928.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:49.514Z,1628966929.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,0111F,186,80,80,A2,FF
2021-08-14T18:48:49.514Z,1628966929.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:49.519Z,1628966929.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184850.21*5D

2021-08-14T18:48:49.942Z,1628966929.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.479996 m, bearing: 283.391297 deg, deltaT: 4.863779 s, approachRate: 28.706074 m/s, LOS rate: -0.065317 deg/s, posRepo size: 4
2021-08-14T18:48:49.960Z,1628966929.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.479996 m,
      bearing: 283.391297 deg,
      approachRate: 28.706074 m/s,
      LOS rate: -0.065317 deg/s,
      cmd update: -0.261267 deg/s,
      cmd heading: 295.797870 deg,
      new cmd heading: 295.929289 deg.

2021-08-14T18:48:52.356Z,1628966932.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:52.738Z,1628966932.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:52.738Z,1628966932.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:52.738Z,1628966932.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:52.739Z,1628966932.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:53.117Z,1628966933.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,0111F,186,80,80,A2,FF
2021-08-14T18:48:53.117Z,1628966933.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:53.117Z,1628966933.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:53.119Z,1628966933.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:53.527Z,1628966933.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:54.350Z,1628966934.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,010E6,186,80,80,A5,FF
2021-08-14T18:48:54.350Z,1628966934.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:54.353Z,1628966934.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184855.05*5E

2021-08-14T18:48:54.779Z,1628966934.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.059998 m, bearing: 283.101068 deg, deltaT: 4.853156 s, approachRate: -0.704696 m/s, LOS rate: -0.059802 deg/s, posRepo size: 4
2021-08-14T18:48:54.781Z,1628966934.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.059998 m,
      bearing: 283.101068 deg,
      approachRate: -0.704696 m/s,
      LOS rate: -0.059802 deg/s,
      cmd update: -0.239208 deg/s,
      cmd heading: 294.530990 deg,
      new cmd heading: 294.437422 deg.

2021-08-14T18:48:57.179Z,1628966937.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:48:57.573Z,1628966937.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:48:57.573Z,1628966937.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:48:57.573Z,1628966937.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:48:57.574Z,1628966937.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:48:57.976Z,1628966937.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,010E6,186,80,80,A5,FF
2021-08-14T18:48:57.976Z,1628966937.976 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:48:57.976Z,1628966937.976 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:48:57.983Z,1628966937.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:48:58.377Z,1628966938.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:48:59.193Z,1628966939.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,010A8,185,80,80,B4,FF
2021-08-14T18:48:59.193Z,1628966939.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:48:59.200Z,1628966939.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184859.92*5C

2021-08-14T18:48:59.623Z,1628966939.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.339996 m, bearing: 282.886928 deg, deltaT: 4.807373 s, approachRate: -0.773812 m/s, LOS rate: -0.044544 deg/s, posRepo size: 4
2021-08-14T18:48:59.626Z,1628966939.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.339996 m,
      bearing: 282.886928 deg,
      approachRate: -0.773812 m/s,
      LOS rate: -0.044544 deg/s,
      cmd update: -0.178176 deg/s,
      cmd heading: 293.380060 deg,
      new cmd heading: 293.286470 deg.

2021-08-14T18:49:02.095Z,1628966942.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:02.415Z,1628966942.415 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:02.415Z,1628966942.415 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:02.415Z,1628966942.415 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:02.416Z,1628966942.416 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:02.809Z,1628966942.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,010A8,185,80,80,B4,FF
2021-08-14T18:49:02.809Z,1628966942.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:02.810Z,1628966942.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:02.811Z,1628966942.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:03.233Z,1628966943.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:04.089Z,1628966944.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,01072,186,80,80,9D,FF
2021-08-14T18:49:04.089Z,1628966944.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:04.092Z,1628966944.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184904.74*5D

2021-08-14T18:49:04.465Z,1628966944.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.099991 m, bearing: 283.565057 deg, deltaT: 4.951480 s, approachRate: -0.654351 m/s, LOS rate: 0.136955 deg/s, posRepo size: 4
2021-08-14T18:49:04.467Z,1628966944.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.099991 m,
      bearing: 283.565057 deg,
      approachRate: -0.654351 m/s,
      LOS rate: 0.136955 deg/s,
      cmd update: 0.547819 deg/s,
      cmd heading: 292.497799 deg,
      new cmd heading: 292.447805 deg.

2021-08-14T18:49:06.901Z,1628966946.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:07.261Z,1628966947.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:07.262Z,1628966947.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:07.262Z,1628966947.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:07.263Z,1628966947.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:07.665Z,1628966947.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,01072,186,80,80,9D,FF
2021-08-14T18:49:07.666Z,1628966947.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:07.667Z,1628966947.667 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:07.689Z,1628966947.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:08.113Z,1628966948.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:08.879Z,1628966948.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,01036,186,80,80,8E,FF
2021-08-14T18:49:08.880Z,1628966948.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:08.887Z,1628966948.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184909.65*50

2021-08-14T18:49:09.297Z,1628966949.297 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,184910,AUV,2.1330*7E
 expected 35
2021-08-14T18:49:09.319Z,1628966949.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.499985 m, bearing: 284.145623 deg, deltaT: 4.788409 s, approachRate: -0.751817 m/s, LOS rate: 0.121244 deg/s, posRepo size: 4
2021-08-14T18:49:09.321Z,1628966949.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.499985 m,
      bearing: 284.145623 deg,
      approachRate: -0.751817 m/s,
      LOS rate: 0.121244 deg/s,
      cmd update: 0.484976 deg/s,
      cmd heading: 295.115626 deg,
      new cmd heading: 295.310737 deg.

2021-08-14T18:49:11.774Z,1628966951.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:12.124Z,1628966952.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:12.125Z,1628966952.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:12.125Z,1628966952.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:12.126Z,1628966952.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:12.514Z,1628966952.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,01036,186,80,80,8E,FF
2021-08-14T18:49:12.514Z,1628966952.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:12.514Z,1628966952.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:12.517Z,1628966952.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:12.925Z,1628966952.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:13.753Z,1628966953.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,00FFD,186,80,80,88,FF
2021-08-14T18:49:13.753Z,1628966953.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:13.756Z,1628966953.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184914.45*5E

2021-08-14T18:49:14.188Z,1628966954.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.079987 m, bearing: 283.600355 deg, deltaT: 4.806509 s, approachRate: -0.711535 m/s, LOS rate: -0.113444 deg/s, posRepo size: 4
2021-08-14T18:49:14.191Z,1628966954.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.079987 m,
      bearing: 283.600355 deg,
      approachRate: -0.711535 m/s,
      LOS rate: -0.113444 deg/s,
      cmd update: -0.453774 deg/s,
      cmd heading: 297.453319 deg,
      new cmd heading: 297.650009 deg.

2021-08-14T18:49:16.586Z,1628966956.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:16.961Z,1628966956.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:16.961Z,1628966956.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:16.961Z,1628966956.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:16.962Z,1628966956.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:17.362Z,1628966957.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,00FFD,186,80,80,88,FF
2021-08-14T18:49:17.362Z,1628966957.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:17.362Z,1628966957.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:17.364Z,1628966957.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:17.777Z,1628966957.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:18.593Z,1628966958.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00FC2,186,80,80,7A,FF
2021-08-14T18:49:18.593Z,1628966958.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:18.596Z,1628966958.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184919.29*59

2021-08-14T18:49:19.019Z,1628966959.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 283.160355 deg, deltaT: 4.860159 s, approachRate: -0.728373 m/s, LOS rate: -0.090532 deg/s, posRepo size: 4
2021-08-14T18:49:19.021Z,1628966959.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.539978 m,
      bearing: 283.160355 deg,
      approachRate: -0.728373 m/s,
      LOS rate: -0.090532 deg/s,
      cmd update: -0.362129 deg/s,
      cmd heading: 295.262054 deg,
      new cmd heading: 295.077114 deg.

2021-08-14T18:49:21.426Z,1628966961.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:21.810Z,1628966961.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:21.810Z,1628966961.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:21.811Z,1628966961.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:21.811Z,1628966961.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:22.205Z,1628966962.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00FC2,186,80,80,7A,FF
2021-08-14T18:49:22.205Z,1628966962.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:22.205Z,1628966962.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:22.207Z,1628966962.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:22.625Z,1628966962.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:23.442Z,1628966963.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00F89,186,80,80,82,FF
2021-08-14T18:49:23.442Z,1628966963.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:23.462Z,1628966963.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184924.14*59

2021-08-14T18:49:23.862Z,1628966963.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.119995 m, bearing: 283.789961 deg, deltaT: 4.866850 s, approachRate: -0.702710 m/s, LOS rate: 0.129366 deg/s, posRepo size: 4
2021-08-14T18:49:23.881Z,1628966963.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.119995 m,
      bearing: 283.789961 deg,
      approachRate: -0.702710 m/s,
      LOS rate: 0.129366 deg/s,
      cmd update: 0.517466 deg/s,
      cmd heading: 293.492222 deg,
      new cmd heading: 293.360614 deg.

2021-08-14T18:49:26.311Z,1628966966.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:26.669Z,1628966966.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:26.670Z,1628966966.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:26.670Z,1628966966.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:26.680Z,1628966966.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:27.053Z,1628966967.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00F89,186,80,80,82,FF
2021-08-14T18:49:27.053Z,1628966967.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:27.053Z,1628966967.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:27.055Z,1628966967.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:27.463Z,1628966967.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:28.294Z,1628966968.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00F4E,185,80,80,9E,FF
2021-08-14T18:49:28.294Z,1628966968.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:28.299Z,1628966968.299 [Micromodem](INFO): Nmea in: $SNTTA,0.431286,0.431355,,,184928.99*5F

2021-08-14T18:49:28.727Z,1628966968.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.579987 m, bearing: 283.777886 deg, deltaT: 4.878888 s, approachRate: -0.725577 m/s, LOS rate: -0.002475 deg/s, posRepo size: 4
2021-08-14T18:49:28.729Z,1628966968.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.579987 m,
      bearing: 283.777886 deg,
      approachRate: -0.725577 m/s,
      LOS rate: -0.002475 deg/s,
      cmd update: -0.009900 deg/s,
      cmd heading: 296.018312 deg,
      new cmd heading: 296.197383 deg.

2021-08-14T18:49:31.125Z,1628966971.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:31.512Z,1628966971.512 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:31.512Z,1628966971.512 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:31.513Z,1628966971.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:31.514Z,1628966971.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:31.901Z,1628966971.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00F4E,185,80,80,9E,FF
2021-08-14T18:49:31.901Z,1628966971.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:31.901Z,1628966971.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:31.903Z,1628966971.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:32.313Z,1628966972.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:32.746Z,1628966972.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00F1E,185,80,80,9E,FF
2021-08-14T18:49:32.746Z,1628966972.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:33.165Z,1628966973.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184933.83*51

2021-08-14T18:49:33.248Z,1628966973.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.699982 m, bearing: 283.200653 deg, deltaT: 4.424210 s, approachRate: -0.650965 m/s, LOS rate: -0.130471 deg/s, posRepo size: 4
2021-08-14T18:49:33.250Z,1628966973.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.699982 m,
      bearing: 283.200653 deg,
      approachRate: -0.650965 m/s,
      LOS rate: -0.130471 deg/s,
      cmd update: -0.521886 deg/s,
      cmd heading: 295.974513 deg,
      new cmd heading: 295.970419 deg.

2021-08-14T18:49:35.581Z,1628966975.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:35.964Z,1628966975.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:35.964Z,1628966975.964 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:35.964Z,1628966975.964 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:35.965Z,1628966975.965 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:36.354Z,1628966976.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00F1E,185,80,80,9E,FF
2021-08-14T18:49:36.354Z,1628966976.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:36.354Z,1628966976.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:36.356Z,1628966976.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:36.761Z,1628966976.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:37.593Z,1628966977.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,00EDA,186,80,80,95,FF
2021-08-14T18:49:37.593Z,1628966977.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:37.596Z,1628966977.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184938.29*5A

2021-08-14T18:49:38.083Z,1628966978.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 283.876240 deg, deltaT: 4.819251 s, approachRate: -0.846602 m/s, LOS rate: 0.140185 deg/s, posRepo size: 4
2021-08-14T18:49:38.093Z,1628966978.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 283.876240 deg,
      approachRate: -0.846602 m/s,
      LOS rate: 0.140185 deg/s,
      cmd update: 0.560741 deg/s,
      cmd heading: 293.455024 deg,
      new cmd heading: 293.219761 deg.

2021-08-14T18:49:40.446Z,1628966980.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:40.797Z,1628966980.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:40.797Z,1628966980.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:40.797Z,1628966980.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:40.798Z,1628966980.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:41.205Z,1628966981.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,00EDA,186,80,80,95,FF
2021-08-14T18:49:41.205Z,1628966981.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:41.205Z,1628966981.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:41.207Z,1628966981.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:41.617Z,1628966981.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:42.033Z,1628966982.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00EDA,186,80,80,95,FF
2021-08-14T18:49:42.034Z,1628966982.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:42.453Z,1628966982.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184943.14*58

2021-08-14T18:49:42.524Z,1628966982.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 283.835915 deg, deltaT: 4.513033 s, approachRate: 0.000000 m/s, LOS rate: -0.008935 deg/s, posRepo size: 4
2021-08-14T18:49:42.527Z,1628966982.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 283.835915 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.008935 deg/s,
      cmd update: -0.035741 deg/s,
      cmd heading: 295.980747 deg,
      new cmd heading: 296.190792 deg.

2021-08-14T18:49:44.874Z,1628966984.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:45.241Z,1628966985.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:45.241Z,1628966985.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:45.241Z,1628966985.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:45.242Z,1628966985.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:45.645Z,1628966985.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00EDA,186,80,80,95,FF
2021-08-14T18:49:45.645Z,1628966985.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:45.645Z,1628966985.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:45.647Z,1628966985.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:46.092Z,1628966986.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:46.885Z,1628966986.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,00E6A,185,80,80,A3,FF
2021-08-14T18:49:46.885Z,1628966986.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:46.888Z,1628966986.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184947.58*54

2021-08-14T18:49:47.303Z,1628966987.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.899994 m, bearing: 283.642484 deg, deltaT: 4.826931 s, approachRate: -1.392189 m/s, LOS rate: -0.040073 deg/s, posRepo size: 4
2021-08-14T18:49:47.306Z,1628966987.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.899994 m,
      bearing: 283.642484 deg,
      approachRate: -1.392189 m/s,
      LOS rate: -0.040073 deg/s,
      cmd update: -0.160293 deg/s,
      cmd heading: 295.808318 deg,
      new cmd heading: 295.796077 deg.

2021-08-14T18:49:49.744Z,1628966989.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:50.117Z,1628966990.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:50.117Z,1628966990.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:50.118Z,1628966990.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:50.119Z,1628966990.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:50.506Z,1628966990.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,00E6A,185,80,80,A3,FF
2021-08-14T18:49:50.506Z,1628966990.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:50.507Z,1628966990.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:50.509Z,1628966990.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:50.904Z,1628966990.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:51.745Z,1628966991.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00E30,186,80,80,A2,FF
2021-08-14T18:49:51.745Z,1628966991.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:51.748Z,1628966991.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184952.44*5D

2021-08-14T18:49:52.208Z,1628966992.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 283.829795 deg, deltaT: 4.828588 s, approachRate: -0.720704 m/s, LOS rate: 0.038792 deg/s, posRepo size: 4
2021-08-14T18:49:52.210Z,1628966992.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 283.829795 deg,
      approachRate: -0.720704 m/s,
      LOS rate: 0.038792 deg/s,
      cmd update: 0.155168 deg/s,
      cmd heading: 295.032578 deg,
      new cmd heading: 294.967305 deg.

2021-08-14T18:49:54.594Z,1628966994.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:54.949Z,1628966994.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:54.949Z,1628966994.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:54.949Z,1628966994.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:54.950Z,1628966994.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:55.362Z,1628966995.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00E30,186,80,80,A2,FF
2021-08-14T18:49:55.362Z,1628966995.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:55.362Z,1628966995.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:55.364Z,1628966995.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:49:55.772Z,1628966995.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:49:56.170Z,1628966996.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00E30,186,80,80,A2,FF
2021-08-14T18:49:56.170Z,1628966996.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:49:56.601Z,1628966996.601 [Micromodem](INFO): Nmea in: $SNTTA,0.120526,,,,184957.30*47

2021-08-14T18:49:56.632Z,1628966996.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 283.428289 deg, deltaT: 4.465242 s, approachRate: 0.000000 m/s, LOS rate: -0.089918 deg/s, posRepo size: 4
2021-08-14T18:49:56.634Z,1628966996.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 283.428289 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.089918 deg/s,
      cmd update: -0.359672 deg/s,
      cmd heading: 295.723880 deg,
      new cmd heading: 295.782258 deg.

2021-08-14T18:49:59.041Z,1628966999.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:49:59.393Z,1628966999.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:49:59.393Z,1628966999.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:49:59.393Z,1628966999.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:49:59.394Z,1628966999.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:49:59.801Z,1628966999.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00E30,186,80,80,A2,FF
2021-08-14T18:49:59.802Z,1628966999.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:49:59.802Z,1628966999.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:49:59.804Z,1628966999.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:00.213Z,1628967000.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:00.606Z,1628967000.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,106,000,00E30,186,80,80,A2,FF
2021-08-14T18:50:00.606Z,1628967000.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:01.047Z,1628967001.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 284.043143 deg, deltaT: 4.363177 s, approachRate: 0.000000 m/s, LOS rate: 0.140919 deg/s, posRepo size: 4
2021-08-14T18:50:01.049Z,1628967001.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 284.043143 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.140919 deg/s,
      cmd update: 0.563675 deg/s,
      cmd heading: 294.151452 deg,
      new cmd heading: 294.000468 deg.

2021-08-14T18:50:03.451Z,1628967003.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:03.849Z,1628967003.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:03.849Z,1628967003.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:03.849Z,1628967003.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:03.850Z,1628967003.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:04.253Z,1628967004.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
106,000,00E30,186,80,80,A2,FF
2021-08-14T18:50:04.253Z,1628967004.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:04.253Z,1628967004.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:04.255Z,1628967004.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:04.745Z,1628967004.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:05.150Z,1628967005.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00D89,185,80,80,A0,FF
2021-08-14T18:50:05.150Z,1628967005.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:05.570Z,1628967005.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185006.19*5C

2021-08-14T18:50:05.586Z,1628967005.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.400009 m, bearing: 283.804960 deg, deltaT: 4.539169 s, approachRate: -2.207453 m/s, LOS rate: -0.052473 deg/s, posRepo size: 4
2021-08-14T18:50:05.588Z,1628967005.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 283.804960 deg,
      approachRate: -2.207453 m/s,
      LOS rate: -0.052473 deg/s,
      cmd update: -0.209891 deg/s,
      cmd heading: 296.711039 deg,
      new cmd heading: 296.946547 deg.

2021-08-14T18:50:08.029Z,1628967008.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:08.387Z,1628967008.387 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:08.387Z,1628967008.387 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:08.387Z,1628967008.387 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:08.388Z,1628967008.388 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:08.777Z,1628967008.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00D89,185,80,80,A0,FF
2021-08-14T18:50:08.777Z,1628967008.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:08.777Z,1628967008.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:08.779Z,1628967008.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:09.184Z,1628967009.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:09.586Z,1628967009.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00D59,185,80,80,A0,FF
2021-08-14T18:50:09.586Z,1628967009.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:10.071Z,1628967010.071 [Micromodem](INFO): Nmea in: $SNTTA,0.118719,,,,185010.71*4C

2021-08-14T18:50:10.130Z,1628967010.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.520020 m, bearing: 283.862088 deg, deltaT: 4.473631 s, approachRate: -0.643770 m/s, LOS rate: 0.012770 deg/s, posRepo size: 4
2021-08-14T18:50:10.145Z,1628967010.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.520020 m,
      bearing: 283.862088 deg,
      approachRate: -0.643770 m/s,
      LOS rate: 0.012770 deg/s,
      cmd update: 0.051079 deg/s,
      cmd heading: 295.779241 deg,
      new cmd heading: 295.669635 deg.

2021-08-14T18:50:12.436Z,1628967012.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:12.827Z,1628967012.827 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:12.828Z,1628967012.828 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:12.829Z,1628967012.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:12.830Z,1628967012.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:13.221Z,1628967013.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00D59,185,80,80,A0,FF
2021-08-14T18:50:13.221Z,1628967013.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:13.221Z,1628967013.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:13.223Z,1628967013.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:13.639Z,1628967013.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:14.053Z,1628967014.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00D1C,185,80,80,A0,FF
2021-08-14T18:50:14.054Z,1628967014.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:14.477Z,1628967014.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185015.16*51

2021-08-14T18:50:14.523Z,1628967014.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.860001 m, bearing: 283.910200 deg, deltaT: 4.513477 s, approachRate: -0.810909 m/s, LOS rate: 0.010660 deg/s, posRepo size: 4
2021-08-14T18:50:14.527Z,1628967014.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 283.910200 deg,
      approachRate: -0.810909 m/s,
      LOS rate: 0.010660 deg/s,
      cmd update: 0.042638 deg/s,
      cmd heading: 296.011533 deg,
      new cmd heading: 296.030284 deg.

2021-08-14T18:50:16.894Z,1628967016.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:17.281Z,1628967017.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:17.281Z,1628967017.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:17.281Z,1628967017.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:17.282Z,1628967017.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:17.698Z,1628967017.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00D1C,185,80,80,A0,FF
2021-08-14T18:50:17.698Z,1628967017.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:17.699Z,1628967017.699 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:17.701Z,1628967017.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:18.121Z,1628967018.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:18.478Z,1628967018.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00D1C,185,80,80,A0,FF
2021-08-14T18:50:18.478Z,1628967018.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:18.895Z,1628967018.895 [Micromodem](INFO): Nmea in: $SNTTA,0.106989,,,,185019.63*4E

2021-08-14T18:50:18.941Z,1628967018.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.860001 m, bearing: 284.322170 deg, deltaT: 4.394167 s, approachRate: 0.000000 m/s, LOS rate: 0.093754 deg/s, posRepo size: 4
2021-08-14T18:50:18.943Z,1628967018.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 284.322170 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.093754 deg/s,
      cmd update: 0.375015 deg/s,
      cmd heading: 296.198488 deg,
      new cmd heading: 296.215564 deg.

2021-08-14T18:50:21.343Z,1628967021.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:21.737Z,1628967021.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:21.737Z,1628967021.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:21.737Z,1628967021.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:21.738Z,1628967021.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:22.117Z,1628967022.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00D1C,185,80,80,A0,FF
2021-08-14T18:50:22.117Z,1628967022.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:22.117Z,1628967022.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:22.119Z,1628967022.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:22.515Z,1628967022.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:22.918Z,1628967022.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,00CB2,185,80,80,A0,FF
2021-08-14T18:50:22.918Z,1628967022.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:23.389Z,1628967023.389 [Micromodem](INFO): Nmea in: $SNTTA,0.104911,,,,185024.05*43

2021-08-14T18:50:23.430Z,1628967023.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.500000 m, bearing: 283.095222 deg, deltaT: 4.452698 s, approachRate: -1.428348 m/s, LOS rate: -0.275552 deg/s, posRepo size: 4
2021-08-14T18:50:23.433Z,1628967023.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.500000 m,
      bearing: 283.095222 deg,
      approachRate: -1.428348 m/s,
      LOS rate: -0.275552 deg/s,
      cmd update: -1.102206 deg/s,
      cmd heading: 297.867435 deg,
      new cmd heading: 298.032446 deg.

2021-08-14T18:50:25.773Z,1628967025.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:26.157Z,1628967026.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:26.157Z,1628967026.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:26.157Z,1628967026.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:26.158Z,1628967026.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:26.561Z,1628967026.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,00CB2,185,80,80,A0,FF
2021-08-14T18:50:26.561Z,1628967026.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:26.561Z,1628967026.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:26.563Z,1628967026.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:26.971Z,1628967026.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:27.374Z,1628967027.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00C7B,185,80,80,A0,FF
2021-08-14T18:50:27.374Z,1628967027.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:27.802Z,1628967027.802 [Micromodem](INFO): Nmea in: $SNTTA,0.105490,,,,185028.49*42

2021-08-14T18:50:27.830Z,1628967027.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.200012 m, bearing: 283.625190 deg, deltaT: 4.427538 s, approachRate: -0.745332 m/s, LOS rate: 0.119698 deg/s, posRepo size: 4
2021-08-14T18:50:27.832Z,1628967027.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.200012 m,
      bearing: 283.625190 deg,
      approachRate: -0.745332 m/s,
      LOS rate: 0.119698 deg/s,
      cmd update: 0.478793 deg/s,
      cmd heading: 292.985271 deg,
      new cmd heading: 292.535148 deg.

2021-08-14T18:50:30.232Z,1628967030.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:30.593Z,1628967030.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:30.593Z,1628967030.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:30.593Z,1628967030.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:30.594Z,1628967030.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:31.005Z,1628967031.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00C7B,185,80,80,A0,FF
2021-08-14T18:50:31.005Z,1628967031.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:31.005Z,1628967031.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:31.007Z,1628967031.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:31.405Z,1628967031.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:31.818Z,1628967031.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00C47,186,80,80,B5,FF
2021-08-14T18:50:31.818Z,1628967031.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:32.245Z,1628967032.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185032.94*5E

2021-08-14T18:50:32.313Z,1628967032.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.079987 m, bearing: 284.468746 deg, deltaT: 4.416526 s, approachRate: -0.706443 m/s, LOS rate: 0.191000 deg/s, posRepo size: 4
2021-08-14T18:50:32.315Z,1628967032.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.079987 m,
      bearing: 284.468746 deg,
      approachRate: -0.706443 m/s,
      LOS rate: 0.191000 deg/s,
      cmd update: 0.763999 deg/s,
      cmd heading: 295.104648 deg,
      new cmd heading: 295.326092 deg.

2021-08-14T18:50:34.694Z,1628967034.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:35.041Z,1628967035.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:35.041Z,1628967035.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:35.042Z,1628967035.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:35.043Z,1628967035.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:35.441Z,1628967035.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00C47,186,80,80,B5,FF
2021-08-14T18:50:35.441Z,1628967035.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:35.441Z,1628967035.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:35.443Z,1628967035.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:35.857Z,1628967035.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:36.257Z,1628967036.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,00C13,186,80,80,B2,FF
2021-08-14T18:50:36.258Z,1628967036.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:36.709Z,1628967036.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185037.38*5D

2021-08-14T18:50:36.759Z,1628967036.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.960007 m, bearing: 284.335256 deg, deltaT: 4.497744 s, approachRate: -0.693677 m/s, LOS rate: -0.029679 deg/s, posRepo size: 4
2021-08-14T18:50:36.765Z,1628967036.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.960007 m,
      bearing: 284.335256 deg,
      approachRate: -0.693677 m/s,
      LOS rate: -0.029679 deg/s,
      cmd update: -0.118717 deg/s,
      cmd heading: 298.537732 deg,
      new cmd heading: 298.857980 deg.

2021-08-14T18:50:39.103Z,1628967039.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:39.481Z,1628967039.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:39.481Z,1628967039.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:39.481Z,1628967039.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:39.482Z,1628967039.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:39.889Z,1628967039.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,00C13,186,80,80,B2,FF
2021-08-14T18:50:39.889Z,1628967039.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:39.889Z,1628967039.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:39.891Z,1628967039.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:40.293Z,1628967040.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:40.721Z,1628967040.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12A,000,00BDE,186,80,80,AA,FF
2021-08-14T18:50:40.721Z,1628967040.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:41.133Z,1628967041.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185041.82*5D

2021-08-14T18:50:41.155Z,1628967041.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.779999 m, bearing: 283.668903 deg, deltaT: 4.435173 s, approachRate: -0.716998 m/s, LOS rate: -0.150243 deg/s, posRepo size: 4
2021-08-14T18:50:41.158Z,1628967041.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.779999 m,
      bearing: 283.668903 deg,
      approachRate: -0.716998 m/s,
      LOS rate: -0.150243 deg/s,
      cmd update: -0.600972 deg/s,
      cmd heading: 298.011454 deg,
      new cmd heading: 297.966050 deg.

2021-08-14T18:50:43.557Z,1628967043.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:43.926Z,1628967043.926 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:43.926Z,1628967043.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:43.926Z,1628967043.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:43.927Z,1628967043.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:44.337Z,1628967044.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12A,000,00BDE,186,80,80,AA,FF
2021-08-14T18:50:44.337Z,1628967044.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:44.337Z,1628967044.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:44.339Z,1628967044.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:44.741Z,1628967044.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:45.141Z,1628967045.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,00BA8,185,80,80,9E,FF
2021-08-14T18:50:45.142Z,1628967045.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:45.574Z,1628967045.574 [Micromodem](INFO): Nmea in: $SNTTA,0.094236,,,,185046.27*41

2021-08-14T18:50:45.618Z,1628967045.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.540009 m, bearing: 283.574565 deg, deltaT: 4.379575 s, approachRate: -0.739796 m/s, LOS rate: -0.021541 deg/s, posRepo size: 4
2021-08-14T18:50:45.620Z,1628967045.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.540009 m,
      bearing: 283.574565 deg,
      approachRate: -0.739796 m/s,
      LOS rate: -0.021541 deg/s,
      cmd update: -0.086162 deg/s,
      cmd heading: 295.375809 deg,
      new cmd heading: 295.099755 deg.

2021-08-14T18:50:48.060Z,1628967048.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:48.377Z,1628967048.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:48.377Z,1628967048.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:48.377Z,1628967048.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:48.378Z,1628967048.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:48.773Z,1628967048.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,00BA8,185,80,80,9E,FF
2021-08-14T18:50:48.773Z,1628967048.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:48.773Z,1628967048.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:48.775Z,1628967048.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:49.189Z,1628967049.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:49.596Z,1628967049.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,00B74,186,80,80,9A,FF
2021-08-14T18:50:49.597Z,1628967049.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:50.044Z,1628967050.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185050.71*51

2021-08-14T18:50:50.141Z,1628967050.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.419998 m, bearing: 283.753051 deg, deltaT: 4.454846 s, approachRate: -0.700363 m/s, LOS rate: 0.040066 deg/s, posRepo size: 4
2021-08-14T18:50:50.143Z,1628967050.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.419998 m,
      bearing: 283.753051 deg,
      approachRate: -0.700363 m/s,
      LOS rate: 0.040066 deg/s,
      cmd update: 0.160263 deg/s,
      cmd heading: 294.991966 deg,
      new cmd heading: 294.948243 deg.

2021-08-14T18:50:52.466Z,1628967052.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:52.817Z,1628967052.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:52.817Z,1628967052.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:52.818Z,1628967052.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:52.819Z,1628967052.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:53.230Z,1628967053.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,00B74,186,80,80,9A,FF
2021-08-14T18:50:53.230Z,1628967053.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:53.230Z,1628967053.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:53.232Z,1628967053.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:53.637Z,1628967053.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:54.093Z,1628967054.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00B3D,186,80,80,89,FF
2021-08-14T18:50:54.093Z,1628967054.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:54.465Z,1628967054.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185055.16*55

2021-08-14T18:50:54.515Z,1628967054.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.119995 m, bearing: 284.816675 deg, deltaT: 4.572895 s, approachRate: -0.721644 m/s, LOS rate: 0.232593 deg/s, posRepo size: 4
2021-08-14T18:50:54.518Z,1628967054.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.119995 m,
      bearing: 284.816675 deg,
      approachRate: -0.721644 m/s,
      LOS rate: 0.232593 deg/s,
      cmd update: 0.930373 deg/s,
      cmd heading: 295.724164 deg,
      new cmd heading: 295.777284 deg.

2021-08-14T18:50:56.903Z,1628967056.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:50:57.261Z,1628967057.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:50:57.261Z,1628967057.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:50:57.261Z,1628967057.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:50:57.262Z,1628967057.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:50:57.696Z,1628967057.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00B3D,186,80,80,89,FF
2021-08-14T18:50:57.696Z,1628967057.696 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:50:57.696Z,1628967057.696 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:50:57.702Z,1628967057.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:50:58.109Z,1628967058.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:50:58.482Z,1628967058.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00B07,186,80,80,89,FF
2021-08-14T18:50:58.482Z,1628967058.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:50:58.899Z,1628967058.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185059.63*5B

2021-08-14T18:50:58.935Z,1628967058.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.880005 m, bearing: 283.844767 deg, deltaT: 4.351274 s, approachRate: -0.744607 m/s, LOS rate: -0.223362 deg/s, posRepo size: 4
2021-08-14T18:50:58.937Z,1628967058.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.880005 m,
      bearing: 283.844767 deg,
      approachRate: -0.744607 m/s,
      LOS rate: -0.223362 deg/s,
      cmd update: -0.893447 deg/s,
      cmd heading: 299.772589 deg,
      new cmd heading: 300.146124 deg.

2021-08-14T18:51:01.315Z,1628967061.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:01.733Z,1628967061.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:01.733Z,1628967061.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:01.733Z,1628967061.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:01.734Z,1628967061.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:02.117Z,1628967062.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00B07,186,80,80,89,FF
2021-08-14T18:51:02.118Z,1628967062.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:02.118Z,1628967062.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:02.119Z,1628967062.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:02.532Z,1628967062.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:02.922Z,1628967062.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,129,000,00AD1,185,80,80,A5,FF
2021-08-14T18:51:02.922Z,1628967062.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:03.377Z,1628967063.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185104.05*52

2021-08-14T18:51:03.411Z,1628967063.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.640015 m, bearing: 284.130159 deg, deltaT: 4.411497 s, approachRate: -0.734442 m/s, LOS rate: 0.064693 deg/s, posRepo size: 4
2021-08-14T18:51:03.414Z,1628967063.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.640015 m,
      bearing: 284.130159 deg,
      approachRate: -0.734442 m/s,
      LOS rate: 0.064693 deg/s,
      cmd update: 0.258772 deg/s,
      cmd heading: 295.827773 deg,
      new cmd heading: 295.414601 deg.

2021-08-14T18:51:05.811Z,1628967065.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:06.145Z,1628967066.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:06.145Z,1628967066.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:06.145Z,1628967066.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:06.146Z,1628967066.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:06.581Z,1628967066.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
129,000,00AD1,185,80,80,A5,FF
2021-08-14T18:51:06.581Z,1628967066.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:06.581Z,1628967066.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:06.583Z,1628967066.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:06.965Z,1628967066.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:07.380Z,1628967067.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00A9D,186,80,80,90,FF
2021-08-14T18:51:07.380Z,1628967067.380 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:07.779Z,1628967067.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185108.51*5F

2021-08-14T18:51:07.818Z,1628967067.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 284.374216 deg, deltaT: 4.447702 s, approachRate: -0.701488 m/s, LOS rate: 0.054872 deg/s, posRepo size: 4
2021-08-14T18:51:07.820Z,1628967067.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.520004 m,
      bearing: 284.374216 deg,
      approachRate: -0.701488 m/s,
      LOS rate: 0.054872 deg/s,
      cmd update: 0.219490 deg/s,
      cmd heading: 296.978711 deg,
      new cmd heading: 297.087727 deg.

2021-08-14T18:51:10.241Z,1628967070.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:10.598Z,1628967070.598 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:10.598Z,1628967070.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:10.598Z,1628967070.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:10.599Z,1628967070.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:10.993Z,1628967070.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00A9D,186,80,80,90,FF
2021-08-14T18:51:10.993Z,1628967070.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:10.993Z,1628967070.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:10.995Z,1628967070.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:11.403Z,1628967071.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:11.801Z,1628967071.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00A68,185,80,80,A7,FF
2021-08-14T18:51:11.802Z,1628967071.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:12.243Z,1628967072.243 [Micromodem](INFO): Nmea in: $SNTTA,0.091674,,,,185112.93*49

2021-08-14T18:51:12.291Z,1628967072.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.340004 m, bearing: 284.422847 deg, deltaT: 4.432199 s, approachRate: -0.717477 m/s, LOS rate: 0.010972 deg/s, posRepo size: 4
2021-08-14T18:51:12.293Z,1628967072.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.340004 m,
      bearing: 284.422847 deg,
      approachRate: -0.717477 m/s,
      LOS rate: 0.010972 deg/s,
      cmd update: 0.043889 deg/s,
      cmd heading: 297.951472 deg,
      new cmd heading: 298.052969 deg.

2021-08-14T18:51:14.710Z,1628967074.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:15.033Z,1628967075.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:15.033Z,1628967075.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:15.033Z,1628967075.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:15.034Z,1628967075.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:15.446Z,1628967075.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00A68,185,80,80,A7,FF
2021-08-14T18:51:15.446Z,1628967075.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:15.446Z,1628967075.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:15.449Z,1628967075.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:15.854Z,1628967075.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:16.253Z,1628967076.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,00A30,186,80,80,B3,FF
2021-08-14T18:51:16.254Z,1628967076.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:16.705Z,1628967076.705 [Micromodem](INFO): Nmea in: $SNTTA,0.079201,,,,185117.38*4D

2021-08-14T18:51:16.747Z,1628967076.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.979996 m, bearing: 283.881896 deg, deltaT: 4.507095 s, approachRate: -0.745493 m/s, LOS rate: -0.120022 deg/s, posRepo size: 4
2021-08-14T18:51:16.755Z,1628967076.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.979996 m,
      bearing: 283.881896 deg,
      approachRate: -0.745493 m/s,
      LOS rate: -0.120022 deg/s,
      cmd update: -0.480088 deg/s,
      cmd heading: 298.149305 deg,
      new cmd heading: 298.167336 deg.

2021-08-14T18:51:19.097Z,1628967079.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:19.477Z,1628967079.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:19.477Z,1628967079.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:19.477Z,1628967079.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:19.478Z,1628967079.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:19.885Z,1628967079.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,00A30,186,80,80,B3,FF
2021-08-14T18:51:19.885Z,1628967079.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:19.885Z,1628967079.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:19.887Z,1628967079.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:20.301Z,1628967080.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:20.743Z,1628967080.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,009FB,186,80,80,A7,FF
2021-08-14T18:51:20.743Z,1628967080.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:21.140Z,1628967081.140 [Micromodem](INFO): Nmea in: $SNTTA,0.077085,,,,185121.82*49

2021-08-14T18:51:21.175Z,1628967081.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.800003 m, bearing: 283.504924 deg, deltaT: 4.508861 s, approachRate: -0.705276 m/s, LOS rate: -0.083607 deg/s, posRepo size: 4
2021-08-14T18:51:21.178Z,1628967081.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.800003 m,
      bearing: 283.504924 deg,
      approachRate: -0.705276 m/s,
      LOS rate: -0.083607 deg/s,
      cmd update: -0.334428 deg/s,
      cmd heading: 295.984666 deg,
      new cmd heading: 295.827147 deg.

2021-08-14T18:51:23.577Z,1628967083.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:23.921Z,1628967083.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:23.921Z,1628967083.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:23.921Z,1628967083.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:23.922Z,1628967083.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:24.325Z,1628967084.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,009FB,186,80,80,A7,FF
2021-08-14T18:51:24.325Z,1628967084.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:24.325Z,1628967084.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:24.327Z,1628967084.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:24.749Z,1628967084.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:25.137Z,1628967085.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,009C6,185,80,80,AC,FF
2021-08-14T18:51:25.138Z,1628967085.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:25.589Z,1628967085.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185126.26*53

2021-08-14T18:51:25.632Z,1628967085.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.620003 m, bearing: 284.401700 deg, deltaT: 4.346190 s, approachRate: -0.731675 m/s, LOS rate: 0.206336 deg/s, posRepo size: 4
2021-08-14T18:51:25.641Z,1628967085.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.620003 m,
      bearing: 284.401700 deg,
      approachRate: -0.731675 m/s,
      LOS rate: 0.206336 deg/s,
      cmd update: 0.825345 deg/s,
      cmd heading: 294.532070 deg,
      new cmd heading: 294.390573 deg.

2021-08-14T18:51:27.999Z,1628967087.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:28.397Z,1628967088.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:28.397Z,1628967088.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:28.397Z,1628967088.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:28.398Z,1628967088.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:28.773Z,1628967088.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,009C6,185,80,80,AC,FF
2021-08-14T18:51:28.773Z,1628967088.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:28.773Z,1628967088.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:28.775Z,1628967088.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:29.181Z,1628967089.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:29.581Z,1628967089.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,00993,186,80,80,92,FF
2021-08-14T18:51:29.582Z,1628967089.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:30.050Z,1628967090.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185130.71*56

2021-08-14T18:51:30.159Z,1628967090.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.560005 m, bearing: 284.765804 deg, deltaT: 4.407573 s, approachRate: -0.694259 m/s, LOS rate: 0.082609 deg/s, posRepo size: 4
2021-08-14T18:51:30.161Z,1628967090.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.560005 m,
      bearing: 284.765804 deg,
      approachRate: -0.694259 m/s,
      LOS rate: 0.082609 deg/s,
      cmd update: 0.330435 deg/s,
      cmd heading: 298.172184 deg,
      new cmd heading: 298.634260 deg.

2021-08-14T18:51:32.466Z,1628967092.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:32.809Z,1628967092.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:32.809Z,1628967092.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:32.809Z,1628967092.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:32.810Z,1628967092.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:33.213Z,1628967093.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,00993,186,80,80,92,FF
2021-08-14T18:51:33.213Z,1628967093.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:33.213Z,1628967093.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:33.215Z,1628967093.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:33.621Z,1628967093.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:34.045Z,1628967094.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,0095A,185,80,80,C8,FF
2021-08-14T18:51:34.046Z,1628967094.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:34.461Z,1628967094.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185135.15*51

2021-08-14T18:51:34.483Z,1628967094.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.140007 m, bearing: 283.509077 deg, deltaT: 4.589624 s, approachRate: -0.745159 m/s, LOS rate: -0.273819 deg/s, posRepo size: 4
2021-08-14T18:51:34.486Z,1628967094.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.140007 m,
      bearing: 283.509077 deg,
      approachRate: -0.745159 m/s,
      LOS rate: -0.273819 deg/s,
      cmd update: -1.095277 deg/s,
      cmd heading: 299.685843 deg,
      new cmd heading: 299.786221 deg.

2021-08-14T18:51:36.889Z,1628967096.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:37.253Z,1628967097.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:37.253Z,1628967097.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:37.253Z,1628967097.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:37.254Z,1628967097.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:37.670Z,1628967097.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,0095A,185,80,80,C8,FF
2021-08-14T18:51:37.671Z,1628967097.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:37.671Z,1628967097.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:37.678Z,1628967097.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:38.109Z,1628967098.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:38.465Z,1628967098.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,00923,186,80,80,CA,FF
2021-08-14T18:51:38.466Z,1628967098.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:38.901Z,1628967098.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185139.61*5E

2021-08-14T18:51:38.931Z,1628967098.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 282.961241 deg, deltaT: 4.346330 s, approachRate: -0.759262 m/s, LOS rate: -0.126046 deg/s, posRepo size: 4
2021-08-14T18:51:38.934Z,1628967098.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.840004 m,
      bearing: 282.961241 deg,
      approachRate: -0.759262 m/s,
      LOS rate: -0.126046 deg/s,
      cmd update: -0.504182 deg/s,
      cmd heading: 294.920290 deg,
      new cmd heading: 294.481407 deg.

2021-08-14T18:51:41.335Z,1628967101.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:41.729Z,1628967101.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:41.729Z,1628967101.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:41.729Z,1628967101.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:41.730Z,1628967101.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:42.113Z,1628967102.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,00923,186,80,80,CA,FF
2021-08-14T18:51:42.113Z,1628967102.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:42.113Z,1628967102.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:42.115Z,1628967102.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:42.515Z,1628967102.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:42.909Z,1628967102.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,008EE,185,80,80,BE,FF
2021-08-14T18:51:42.910Z,1628967102.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:43.362Z,1628967103.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185144.05*56

2021-08-14T18:51:43.385Z,1628967103.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.660004 m, bearing: 284.281926 deg, deltaT: 4.442253 s, approachRate: -0.715853 m/s, LOS rate: 0.297301 deg/s, posRepo size: 4
2021-08-14T18:51:43.387Z,1628967103.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.660004 m,
      bearing: 284.281926 deg,
      approachRate: -0.715853 m/s,
      LOS rate: 0.297301 deg/s,
      cmd update: 1.189203 deg/s,
      cmd heading: 292.678608 deg,
      new cmd heading: 292.473073 deg.

2021-08-14T18:51:45.786Z,1628967105.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:46.145Z,1628967106.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:46.145Z,1628967106.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:46.145Z,1628967106.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:46.146Z,1628967106.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:46.553Z,1628967106.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,008EE,185,80,80,BE,FF
2021-08-14T18:51:46.553Z,1628967106.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:46.553Z,1628967106.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:46.555Z,1628967106.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:46.961Z,1628967106.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:47.354Z,1628967107.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,008B9,186,80,80,90,FF
2021-08-14T18:51:47.354Z,1628967107.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:47.793Z,1628967107.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185148.49*52

2021-08-14T18:51:47.819Z,1628967107.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 284.451479 deg, deltaT: 4.421071 s, approachRate: -0.719285 m/s, LOS rate: 0.038351 deg/s, posRepo size: 4
2021-08-14T18:51:47.821Z,1628967107.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 284.451479 deg,
      approachRate: -0.719285 m/s,
      LOS rate: 0.038351 deg/s,
      cmd update: 0.153404 deg/s,
      cmd heading: 297.936500 deg,
      new cmd heading: 298.436779 deg.

2021-08-14T18:51:50.240Z,1628967110.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:50.585Z,1628967110.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:50.585Z,1628967110.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:50.585Z,1628967110.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:50.586Z,1628967110.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:50.995Z,1628967110.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,008B9,186,80,80,90,FF
2021-08-14T18:51:50.995Z,1628967110.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:50.995Z,1628967110.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:50.997Z,1628967110.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:51.410Z,1628967111.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:51.801Z,1628967111.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00886,186,80,80,AD,FF
2021-08-14T18:51:51.802Z,1628967111.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:52.237Z,1628967112.237 [Micromodem](INFO): Nmea in: $SNTTA,0.068744,,,,185152.93*49

2021-08-14T18:51:52.286Z,1628967112.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.419998 m, bearing: 283.949023 deg, deltaT: 4.454600 s, approachRate: -0.686930 m/s, LOS rate: -0.112795 deg/s, posRepo size: 4
2021-08-14T18:51:52.288Z,1628967112.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.419998 m,
      bearing: 283.949023 deg,
      approachRate: -0.686930 m/s,
      LOS rate: -0.112795 deg/s,
      cmd update: -0.451180 deg/s,
      cmd heading: 298.616126 deg,
      new cmd heading: 298.686254 deg.

2021-08-14T18:51:54.695Z,1628967114.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:55.029Z,1628967115.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:55.029Z,1628967115.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:55.029Z,1628967115.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:55.030Z,1628967115.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:55.437Z,1628967115.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00886,186,80,80,AD,FF
2021-08-14T18:51:55.437Z,1628967115.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:55.437Z,1628967115.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:55.439Z,1628967115.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:51:55.844Z,1628967115.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:51:56.241Z,1628967116.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,129,000,0084D,185,80,80,A0,FF
2021-08-14T18:51:56.241Z,1628967116.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:51:56.717Z,1628967116.717 [Micromodem](INFO): Nmea in: $SNTTA,0.062244,,,,185157.37*4D

2021-08-14T18:51:56.743Z,1628967116.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 283.795781 deg, deltaT: 4.469260 s, approachRate: -0.765227 m/s, LOS rate: -0.034288 deg/s, posRepo size: 4
2021-08-14T18:51:56.745Z,1628967116.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.000000 m,
      bearing: 283.795781 deg,
      approachRate: -0.765227 m/s,
      LOS rate: -0.034288 deg/s,
      cmd update: -0.137152 deg/s,
      cmd heading: 296.590546 deg,
      new cmd heading: 296.398794 deg.

2021-08-14T18:51:59.117Z,1628967119.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:51:59.473Z,1628967119.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:51:59.473Z,1628967119.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:51:59.473Z,1628967119.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:51:59.474Z,1628967119.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:51:59.885Z,1628967119.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
129,000,0084D,185,80,80,A0,FF
2021-08-14T18:51:59.886Z,1628967119.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:51:59.886Z,1628967119.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:51:59.888Z,1628967119.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:00.285Z,1628967120.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:00.709Z,1628967120.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,00815,186,80,80,87,FF
2021-08-14T18:52:00.709Z,1628967120.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:01.125Z,1628967121.125 [Micromodem](INFO): Nmea in: $SNTTA,0.065854,,,,185201.82*4F

2021-08-14T18:52:01.167Z,1628967121.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.639999 m, bearing: 284.361539 deg, deltaT: 4.452795 s, approachRate: -0.754582 m/s, LOS rate: 0.127057 deg/s, posRepo size: 4
2021-08-14T18:52:01.174Z,1628967121.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.639999 m,
      bearing: 284.361539 deg,
      approachRate: -0.754582 m/s,
      LOS rate: 0.127057 deg/s,
      cmd update: 0.508227 deg/s,
      cmd heading: 295.979838 deg,
      new cmd heading: 295.925446 deg.

2021-08-14T18:52:03.545Z,1628967123.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:03.917Z,1628967123.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:03.917Z,1628967123.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:03.918Z,1628967123.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:03.919Z,1628967123.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:04.325Z,1628967124.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,00815,186,80,80,87,FF
2021-08-14T18:52:04.326Z,1628967124.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:04.326Z,1628967124.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:04.327Z,1628967124.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:04.752Z,1628967124.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:05.137Z,1628967125.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,007E4,186,80,80,9D,FF
2021-08-14T18:52:05.138Z,1628967125.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:05.581Z,1628967125.581 [Micromodem](INFO): Nmea in: $SNTTA,0.059056,,,,185206.26*43

2021-08-14T18:52:05.603Z,1628967125.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 283.738271 deg, deltaT: 4.414788 s, approachRate: -0.665944 m/s, LOS rate: -0.141177 deg/s, posRepo size: 4
2021-08-14T18:52:05.606Z,1628967125.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 283.738271 deg,
      approachRate: -0.665944 m/s,
      LOS rate: -0.141177 deg/s,
      cmd update: -0.564710 deg/s,
      cmd heading: 298.223581 deg,
      new cmd heading: 298.435887 deg.

2021-08-14T18:52:08.028Z,1628967128.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:08.370Z,1628967128.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:08.370Z,1628967128.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:08.372Z,1628967128.372 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:08.373Z,1628967128.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:08.769Z,1628967128.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,007E4,186,80,80,9D,FF
2021-08-14T18:52:08.769Z,1628967128.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:08.770Z,1628967128.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:08.771Z,1628967128.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:09.172Z,1628967129.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:09.585Z,1628967129.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,139,000,007AA,186,80,80,9E,FF
2021-08-14T18:52:09.586Z,1628967129.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:10.008Z,1628967130.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185210.70*56

2021-08-14T18:52:10.091Z,1628967130.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.220001 m, bearing: 283.164999 deg, deltaT: 4.447864 s, approachRate: -0.782397 m/s, LOS rate: -0.128887 deg/s, posRepo size: 4
2021-08-14T18:52:10.093Z,1628967130.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.220001 m,
      bearing: 283.164999 deg,
      approachRate: -0.782397 m/s,
      LOS rate: -0.128887 deg/s,
      cmd update: -0.515548 deg/s,
      cmd heading: 295.715816 deg,
      new cmd heading: 295.453517 deg.

2021-08-14T18:52:12.461Z,1628967132.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:12.813Z,1628967132.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:12.813Z,1628967132.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:12.813Z,1628967132.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:12.813Z,1628967132.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:13.217Z,1628967133.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
139,000,007AA,186,80,80,9E,FF
2021-08-14T18:52:13.218Z,1628967133.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:13.218Z,1628967133.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:13.219Z,1628967133.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:13.629Z,1628967133.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:14.049Z,1628967134.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,00774,186,80,80,AB,FF
2021-08-14T18:52:14.050Z,1628967134.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:14.461Z,1628967134.461 [Micromodem](INFO): Nmea in: $SNTTA,0.063621,,,,185215.15*4E

2021-08-14T18:52:14.484Z,1628967134.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 285.469150 deg, deltaT: 4.498491 s, approachRate: -0.720241 m/s, LOS rate: 0.512205 deg/s, posRepo size: 4
2021-08-14T18:52:14.486Z,1628967134.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.980003 m,
      bearing: 285.469150 deg,
      approachRate: -0.720241 m/s,
      LOS rate: 0.512205 deg/s,
      cmd update: 2.048821 deg/s,
      cmd heading: 293.395058 deg,
      new cmd heading: 293.211726 deg.

2021-08-14T18:52:16.890Z,1628967136.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:17.253Z,1628967137.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:17.253Z,1628967137.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:17.253Z,1628967137.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:17.254Z,1628967137.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:17.665Z,1628967137.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,00774,186,80,80,AB,FF
2021-08-14T18:52:17.665Z,1628967137.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:17.666Z,1628967137.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:17.672Z,1628967137.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:18.109Z,1628967138.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:18.469Z,1628967138.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,0073D,186,80,80,91,FF
2021-08-14T18:52:18.469Z,1628967138.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:18.909Z,1628967138.909 [Micromodem](INFO): Nmea in: $SNTTA,0.052388,,,,185219.61*45

2021-08-14T18:52:18.948Z,1628967138.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.680000 m, bearing: 284.601060 deg, deltaT: 4.350685 s, approachRate: -0.758502 m/s, LOS rate: -0.199529 deg/s, posRepo size: 4
2021-08-14T18:52:18.950Z,1628967138.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.680000 m,
      bearing: 284.601060 deg,
      approachRate: -0.758502 m/s,
      LOS rate: -0.199529 deg/s,
      cmd update: -0.798118 deg/s,
      cmd heading: 302.324080 deg,
      new cmd heading: 303.270141 deg.

2021-08-14T18:52:21.339Z,1628967141.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:21.725Z,1628967141.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:21.725Z,1628967141.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:21.725Z,1628967141.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:21.726Z,1628967141.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:22.113Z,1628967142.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,0073D,186,80,80,91,FF
2021-08-14T18:52:22.113Z,1628967142.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:22.113Z,1628967142.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:22.115Z,1628967142.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:22.503Z,1628967142.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:22.921Z,1628967142.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00704,185,80,80,5D,FF
2021-08-14T18:52:22.922Z,1628967142.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:23.345Z,1628967143.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185224.05*53

2021-08-14T18:52:23.411Z,1628967143.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.260010 m, bearing: 282.047908 deg, deltaT: 4.517584 s, approachRate: -0.757040 m/s, LOS rate: -0.565159 deg/s, posRepo size: 4
2021-08-14T18:52:23.418Z,1628967143.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.260010 m,
      bearing: 282.047908 deg,
      approachRate: -0.757040 m/s,
      LOS rate: -0.565159 deg/s,
      cmd update: -2.260635 deg/s,
      cmd heading: 298.718050 deg,
      new cmd heading: 298.393084 deg.

2021-08-14T18:52:25.770Z,1628967145.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:26.149Z,1628967146.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:26.149Z,1628967146.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:26.149Z,1628967146.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:26.150Z,1628967146.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:26.549Z,1628967146.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,00704,185,80,80,5D,FF
2021-08-14T18:52:26.549Z,1628967146.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:26.549Z,1628967146.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:26.551Z,1628967146.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:26.961Z,1628967146.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:27.349Z,1628967147.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,006D3,186,80,80,70,FF
2021-08-14T18:52:27.349Z,1628967147.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:27.797Z,1628967147.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185228.49*57

2021-08-14T18:52:27.861Z,1628967147.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.320007 m, bearing: 286.737980 deg, deltaT: 4.400350 s, approachRate: -0.668129 m/s, LOS rate: 1.065841 deg/s, posRepo size: 4
2021-08-14T18:52:27.867Z,1628967147.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.320007 m,
      bearing: 286.737980 deg,
      approachRate: -0.668129 m/s,
      LOS rate: 1.065841 deg/s,
      cmd update: 4.263363 deg/s,
      cmd heading: 288.790576 deg,
      new cmd heading: 287.739616 deg.

2021-08-14T18:52:30.250Z,1628967150.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:30.581Z,1628967150.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:30.581Z,1628967150.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:30.581Z,1628967150.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:30.582Z,1628967150.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:30.998Z,1628967150.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,006D3,186,80,80,70,FF
2021-08-14T18:52:30.998Z,1628967150.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:30.999Z,1628967150.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:31.002Z,1628967151.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:31.397Z,1628967151.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:31.810Z,1628967151.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00699,186,80,80,B4,FF
2021-08-14T18:52:31.811Z,1628967151.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:32.226Z,1628967152.226 [Micromodem](INFO): Nmea in: $SNTTA,0.049261,,,,185232.94*4A

2021-08-14T18:52:32.267Z,1628967152.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 286.850542 deg, deltaT: 4.466864 s, approachRate: -0.779071 m/s, LOS rate: 0.025199 deg/s, posRepo size: 4
2021-08-14T18:52:32.290Z,1628967152.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.840004 m,
      bearing: 286.850542 deg,
      approachRate: -0.779071 m/s,
      LOS rate: 0.025199 deg/s,
      cmd update: 0.100797 deg/s,
      cmd heading: 307.769811 deg,
      new cmd heading: 309.557545 deg.

2021-08-14T18:52:34.689Z,1628967154.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:35.030Z,1628967155.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:35.030Z,1628967155.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:35.030Z,1628967155.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:35.031Z,1628967155.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:35.434Z,1628967155.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00699,186,80,80,B4,FF
2021-08-14T18:52:35.434Z,1628967155.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:35.434Z,1628967155.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:35.436Z,1628967155.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:35.845Z,1628967155.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:36.233Z,1628967156.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00664,186,80,80,7A,FF
2021-08-14T18:52:36.234Z,1628967156.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:36.699Z,1628967156.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185237.37*50

2021-08-14T18:52:36.725Z,1628967156.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 284.259332 deg, deltaT: 4.435512 s, approachRate: -0.716942 m/s, LOS rate: -0.584196 deg/s, posRepo size: 4
2021-08-14T18:52:36.727Z,1628967156.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 284.259332 deg,
      approachRate: -0.716942 m/s,
      LOS rate: -0.584196 deg/s,
      cmd update: -2.336785 deg/s,
      cmd heading: 308.216083 deg,
      new cmd heading: 308.261445 deg.

2021-08-14T18:52:39.123Z,1628967159.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:39.473Z,1628967159.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:39.473Z,1628967159.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:39.473Z,1628967159.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:39.474Z,1628967159.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:39.873Z,1628967159.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00664,186,80,80,7A,FF
2021-08-14T18:52:39.873Z,1628967159.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:39.873Z,1628967159.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:39.875Z,1628967159.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:40.281Z,1628967160.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:40.714Z,1628967160.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,0063D,189,80,80,8D,FF
2021-08-14T18:52:40.714Z,1628967160.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:41.129Z,1628967161.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185241.81*5C

2021-08-14T18:52:41.152Z,1628967161.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.319996 m, bearing: 276.905049 deg, deltaT: 4.480937 s, approachRate: -0.522213 m/s, LOS rate: -1.641238 deg/s, posRepo size: 4
2021-08-14T18:52:41.154Z,1628967161.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.319996 m,
      bearing: 276.905049 deg,
      approachRate: -0.522213 m/s,
      LOS rate: -1.641238 deg/s,
      cmd update: -6.564951 deg/s,
      cmd heading: 297.679528 deg,
      new cmd heading: 296.820257 deg.

2021-08-14T18:52:43.557Z,1628967163.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:43.917Z,1628967163.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:43.917Z,1628967163.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:43.917Z,1628967163.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:43.918Z,1628967163.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:44.321Z,1628967164.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,0063D,189,80,80,8D,FF
2021-08-14T18:52:44.321Z,1628967164.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:44.321Z,1628967164.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:44.323Z,1628967164.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:44.751Z,1628967164.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:45.129Z,1628967165.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,005FE,186,80,80,6B,FF
2021-08-14T18:52:45.130Z,1628967165.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:45.567Z,1628967165.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185246.26*56

2021-08-14T18:52:45.620Z,1628967165.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 285.556822 deg, deltaT: 4.363924 s, approachRate: -0.866191 m/s, LOS rate: 1.982567 deg/s, posRepo size: 4
2021-08-14T18:52:45.623Z,1628967165.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.540005 m,
      bearing: 285.556822 deg,
      approachRate: -0.866191 m/s,
      LOS rate: 1.982567 deg/s,
      cmd update: 7.930270 deg/s,
      cmd heading: 269.006815 deg,
      new cmd heading: 265.941048 deg.

2021-08-14T18:52:48.024Z,1628967168.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:48.353Z,1628967168.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:48.354Z,1628967168.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:48.354Z,1628967168.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:48.355Z,1628967168.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:48.468Z,1628967168.468 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T18:52:48.468Z,1628967168.468 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T18:52:48.468Z,1628967168.468 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T18:52:48.469Z,1628967168.469 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T18:52:48.469Z,1628967168.469 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T18:52:48.893Z,1628967168.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,005FE,186,80,80,6B,FF
2021-08-14T18:52:48.893Z,1628967168.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:48.893Z,1628967168.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:48.895Z,1628967168.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:49.298Z,1628967169.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:52:49.491Z,1628967169.491 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 00FB17611E0001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T18:52:49.492Z,1628967169.492 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T18:52:49.493Z,1628967169.493 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70718F8FD2355F6D0E14A77BD49E83F75B2EEF8D65A06EE23C5500B695D673CDE909D990D3
2021-08-14T18:52:49.494Z,1628967169.494 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T18:52:49.732Z,1628967169.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,003DE,186,80,80,6F,FF
2021-08-14T18:52:49.733Z,1628967169.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:52:49.735Z,1628967169.735 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T18:52:50.144Z,1628967170.144 [Micromodem](INFO): Nmea in: $CADRQ,185251,1,10,0,64,1*7C

2021-08-14T18:52:50.145Z,1628967170.145 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611E0001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*41

2021-08-14T18:52:50.281Z,1628967170.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 291.637220 deg, deltaT: 4.691419 s, approachRate: -6.957385 m/s, LOS rate: 1.296068 deg/s, posRepo size: 4
2021-08-14T18:52:50.282Z,1628967170.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.90 m.
2021-08-14T18:52:50.284Z,1628967170.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 291.637220 deg,
      approachRate: -6.957385 m/s,
      LOS rate: 1.296068 deg/s,
      cmd update: 5.184272 deg/s,
      cmd heading: 306.124299 deg,
      new cmd heading: 309.685474 deg.

2021-08-14T18:52:50.550Z,1628967170.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185250.83*5E

2021-08-14T18:52:50.550Z,1628967170.550 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,185250.83*5E

2021-08-14T18:52:50.780Z,1628967170.780 [PowerOnly](INFO): Powering up loadControl
2021-08-14T18:52:50.818Z,1628967170.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:52:50.818Z,1628967170.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:52:50.819Z,1628967170.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:52:50.819Z,1628967170.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:52:50.819Z,1628967170.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:52:50.820Z,1628967170.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:52:51.009Z,1628967171.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:52:51.009Z,1628967171.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:52:51.009Z,1628967171.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:52:51.009Z,1628967171.009 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:52:51.781Z,1628967171.781 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T18:52:52.193Z,1628967172.193 [Micromodem](INFO): Nmea in: $CADRQ,185252,1,10,0,64,2*7C

2021-08-14T18:52:52.193Z,1628967172.193 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T18:52:52.567Z,1628967172.567 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T18:52:52.591Z,1628967172.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:52.982Z,1628967172.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:52:52.982Z,1628967172.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:52:52.982Z,1628967172.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:52:52.983Z,1628967172.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:52:52.990Z,1628967172.990 [Micromodem](INFO): Nmea in: $CADRQ,185254,1,10,0,64,3*7B

2021-08-14T18:52:52.992Z,1628967172.992 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70718F8FD2355F6D0E14A77BD49E83F75B2EEF8D65A06EE23C5500B695D673CDE909D990D3*33

2021-08-14T18:52:53.370Z,1628967173.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,003DE,186,80,80,6F,FF
2021-08-14T18:52:53.370Z,1628967173.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:52:53.370Z,1628967173.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:52:53.371Z,1628967173.371 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T18:52:53.373Z,1628967173.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:52:53.796Z,1628967173.796 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T18:52:53.797Z,1628967173.797 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T18:52:55.210Z,1628967175.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:57.440Z,1628967177.440 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T18:52:57.440Z,1628967177.440 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T18:52:57.819Z,1628967177.819 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,185254.975255,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6E

2021-08-14T18:52:57.819Z,1628967177.819 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,185254.975255,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6E

2021-08-14T18:52:57.894Z,1628967177.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:52:59.032Z,1628967179.032 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.049226
2021-08-14T18:53:00.709Z,1628967180.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:01.137Z,1628967181.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:01.137Z,1628967181.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:01.137Z,1628967181.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:01.138Z,1628967181.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:01.514Z,1628967181.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,003DE,186,80,80,6F,FF
2021-08-14T18:53:01.514Z,1628967181.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:01.514Z,1628967181.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:03.808Z,1628967183.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:04.441Z,1628967184.441 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:04.856Z,1628967184.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:05.255Z,1628967185.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,361,000,0051E,189,80,80,85,FF
2021-08-14T18:53:05.255Z,1628967185.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:05.276Z,1628967185.276 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:05.741Z,1628967185.741 [Micromodem](INFO): Nmea in: $SNTTA,0.482992,,,,185306.38*4E

2021-08-14T18:53:05.814Z,1628967185.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 285.270883 deg, deltaT: 15.430393 s, approachRate: 1.244298 m/s, LOS rate: -0.412584 deg/s, posRepo size: 4
2021-08-14T18:53:05.822Z,1628967185.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.099998 m,
      bearing: 285.270883 deg,
      approachRate: 1.244298 m/s,
      LOS rate: -0.412584 deg/s,
      cmd update: -1.650337 deg/s,
      cmd heading: 26.177054 deg,
      new cmd heading: 28.980050 deg.

2021-08-14T18:53:06.165Z,1628967186.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:53:06.166Z,1628967186.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:53:06.166Z,1628967186.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:53:06.166Z,1628967186.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:53:06.166Z,1628967186.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:53:06.166Z,1628967186.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:53:06.488Z,1628967186.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:53:06.489Z,1628967186.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:53:06.489Z,1628967186.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:53:06.489Z,1628967186.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:53:08.346Z,1628967188.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:08.545Z,1628967188.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:08.546Z,1628967188.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:08.546Z,1628967188.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:08.547Z,1628967188.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:08.941Z,1628967188.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
361,000,0051E,189,80,80,85,FF
2021-08-14T18:53:08.942Z,1628967188.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:08.942Z,1628967188.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:08.943Z,1628967188.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:09.345Z,1628967189.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:09.745Z,1628967189.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004FB,189,80,80,87,FF
2021-08-14T18:53:09.746Z,1628967189.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:10.185Z,1628967190.185 [Micromodem](INFO): Nmea in: $SNTTA,,0.039947,,,185310.88*4E

2021-08-14T18:53:10.430Z,1628967190.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 280.985650 deg, deltaT: 4.548181 s, approachRate: -0.461724 m/s, LOS rate: -0.942186 deg/s, posRepo size: 4
2021-08-14T18:53:10.431Z,1628967190.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.00 m.
2021-08-14T18:53:10.431Z,1628967190.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.00 m.
2021-08-14T18:53:10.431Z,1628967190.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T18:53:10.434Z,1628967190.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.999996 m,
      bearing: 280.985650 deg,
      approachRate: -0.461724 m/s,
      LOS rate: -0.942186 deg/s,
      cmd update: -3.768745 deg/s,
      cmd heading: 18.670522 deg,
      new cmd heading: 17.666373 deg.

2021-08-14T18:53:10.695Z,1628967190.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T18:53:10.695Z,1628967190.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:53:10.695Z,1628967190.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T18:53:10.700Z,1628967190.700 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T18:53:10.700Z,1628967190.700 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T18:53:10.700Z,1628967190.700 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T18:53:11.057Z,1628967191.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T18:53:11.057Z,1628967191.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:53:11.057Z,1628967191.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T18:53:11.058Z,1628967191.058 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T18:53:12.667Z,1628967192.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:13.053Z,1628967193.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:13.053Z,1628967193.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:13.053Z,1628967193.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:13.054Z,1628967193.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:13.461Z,1628967193.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004FB,189,80,80,87,FF
2021-08-14T18:53:13.461Z,1628967193.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:13.461Z,1628967193.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:13.463Z,1628967193.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:13.849Z,1628967193.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:14.245Z,1628967194.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,004E7,189,80,80,77,FF
2021-08-14T18:53:14.246Z,1628967194.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:14.333Z,1628967194.333 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:14.685Z,1628967194.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185315.40*51

2021-08-14T18:53:14.937Z,1628967194.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 38.627974 deg, deltaT: 4.508071 s, approachRate: -0.266189 m/s, LOS rate: 26.095933 deg/s, posRepo size: 4
2021-08-14T18:53:14.937Z,1628967194.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.095933 deg/s. Setting heading cmd to target bearing of 38.627974deg and heading rate command to 0 deg/s.
2021-08-14T18:53:16.962Z,1628967196.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:17.101Z,1628967197.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:17.101Z,1628967197.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:17.101Z,1628967197.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:17.102Z,1628967197.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:17.514Z,1628967197.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,004E7,189,80,80,77,FF
2021-08-14T18:53:17.514Z,1628967197.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:17.514Z,1628967197.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:17.536Z,1628967197.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:17.912Z,1628967197.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:18.010Z,1628967198.010 [CTD_Seabird](ERROR): Failed to parse device response: 6.24,24.2267,4.78869,
2021-08-14T18:53:18.317Z,1628967198.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D0,000,004E0,189,80,80,59,FF
2021-08-14T18:53:18.317Z,1628967198.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:18.386Z,1628967198.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:18.809Z,1628967198.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 325.117250 deg, deltaT: 4.053518 s, approachRate: -0.103613 m/s, LOS rate: -18.135042 deg/s, posRepo size: 4
2021-08-14T18:53:18.809Z,1628967198.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.135042 deg/s. Setting heading cmd to target bearing of 325.117250deg and heading rate command to 0 deg/s.
2021-08-14T18:53:19.135Z,1628967199.135 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185319.53*5F

2021-08-14T18:53:21.374Z,1628967201.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:21.557Z,1628967201.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:21.557Z,1628967201.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:21.557Z,1628967201.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:21.558Z,1628967201.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:21.957Z,1628967201.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D0,000,004E0,189,80,80,59,FF
2021-08-14T18:53:21.957Z,1628967201.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:21.958Z,1628967201.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:21.959Z,1628967201.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:22.357Z,1628967202.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:22.758Z,1628967202.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004D7,189,80,80,70,FF
2021-08-14T18:53:22.758Z,1628967202.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:22.834Z,1628967202.834 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:23.193Z,1628967203.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185323.90*59

2021-08-14T18:53:23.450Z,1628967203.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 313.179692 deg, deltaT: 4.447649 s, approachRate: -0.121413 m/s, LOS rate: -2.684015 deg/s, posRepo size: 4
2021-08-14T18:53:23.452Z,1628967203.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.840000 m,
      bearing: 313.179692 deg,
      approachRate: -0.121413 m/s,
      LOS rate: -2.684015 deg/s,
      cmd update: -10.736062 deg/s,
      cmd heading: 325.117250 deg,
      new cmd heading: 325.117250 deg.

2021-08-14T18:53:25.700Z,1628967205.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:26.066Z,1628967206.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:26.066Z,1628967206.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:26.066Z,1628967206.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:26.067Z,1628967206.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:26.437Z,1628967206.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004D7,189,80,80,70,FF
2021-08-14T18:53:26.437Z,1628967206.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:26.437Z,1628967206.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:26.439Z,1628967206.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:26.854Z,1628967206.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:27.242Z,1628967207.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,004E6,189,80,80,51,FF
2021-08-14T18:53:27.242Z,1628967207.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:27.311Z,1628967207.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:27.709Z,1628967207.709 [Micromodem](INFO): Nmea in: $SNTTA,0.046180,,,,185328.37*4A

2021-08-14T18:53:27.958Z,1628967207.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 356.183136 deg, deltaT: 4.476957 s, approachRate: 0.201029 m/s, LOS rate: 9.605508 deg/s, posRepo size: 4
2021-08-14T18:53:27.959Z,1628967207.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.739998 m,
      bearing: 356.183136 deg,
      approachRate: 0.201029 m/s,
      LOS rate: 9.605508 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.095501 deg,
      new cmd heading: 270.076296 deg.

2021-08-14T18:53:29.979Z,1628967209.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:30.165Z,1628967210.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:30.166Z,1628967210.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:30.166Z,1628967210.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:30.167Z,1628967210.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:30.574Z,1628967210.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,004E6,189,80,80,51,FF
2021-08-14T18:53:30.575Z,1628967210.575 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:30.575Z,1628967210.575 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:30.577Z,1628967210.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:30.979Z,1628967210.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:31.387Z,1628967211.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,004E5,186,80,80,67,FF
2021-08-14T18:53:31.391Z,1628967211.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:31.412Z,1628967211.412 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:31.821Z,1628967211.821 [Micromodem](INFO): Nmea in: $SNTTA,0.038932,,,,185332.51*49

2021-08-14T18:53:31.897Z,1628967211.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 5.672133 deg, deltaT: 4.101381 s, approachRate: -0.014629 m/s, LOS rate: 2.313613 deg/s, posRepo size: 4
2021-08-14T18:53:31.905Z,1628967211.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.680000 m,
      bearing: 5.672133 deg,
      approachRate: -0.014629 m/s,
      LOS rate: 2.313613 deg/s,
      cmd update: 9.254451 deg/s,
      cmd heading: 326.356750 deg,
      new cmd heading: 332.154250 deg.

2021-08-14T18:53:34.445Z,1628967214.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:34.633Z,1628967214.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:34.633Z,1628967214.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:34.633Z,1628967214.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:34.634Z,1628967214.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:35.022Z,1628967215.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,004E5,186,80,80,67,FF
2021-08-14T18:53:35.022Z,1628967215.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:35.022Z,1628967215.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:35.051Z,1628967215.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:35.437Z,1628967215.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:36.262Z,1628967216.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185336.99*54

2021-08-14T18:53:37.101Z,1628967217.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:38.700Z,1628967218.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,67,FF
2021-08-14T18:53:38.700Z,1628967218.700 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,67,FF
2021-08-14T18:53:38.700Z,1628967218.700 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:53:39.912Z,1628967219.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:40.275Z,1628967220.275 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:40.275Z,1628967220.275 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:40.275Z,1628967220.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:40.289Z,1628967220.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:40.705Z,1628967220.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,67,FF
2021-08-14T18:53:40.706Z,1628967220.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:40.706Z,1628967220.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:40.720Z,1628967220.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:41.192Z,1628967221.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:41.590Z,1628967221.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,004CF,188,80,80,86,FF
2021-08-14T18:53:41.590Z,1628967221.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:41.663Z,1628967221.663 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:42.012Z,1628967222.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185342.65*54

2021-08-14T18:53:42.121Z,1628967222.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 20.882962 deg, deltaT: 10.260750 s, approachRate: -0.128646 m/s, LOS rate: 1.482428 deg/s, posRepo size: 4
2021-08-14T18:53:42.123Z,1628967222.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.360001 m,
      bearing: 20.882962 deg,
      approachRate: -0.128646 m/s,
      LOS rate: 1.482428 deg/s,
      cmd update: 5.929714 deg/s,
      cmd heading: 60.816231 deg,
      new cmd heading: 65.489867 deg.

2021-08-14T18:53:44.465Z,1628967224.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:44.837Z,1628967224.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:44.837Z,1628967224.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:44.837Z,1628967224.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:44.838Z,1628967224.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:45.249Z,1628967225.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,004CF,188,80,80,86,FF
2021-08-14T18:53:45.249Z,1628967225.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:45.249Z,1628967225.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:45.251Z,1628967225.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:45.687Z,1628967225.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:46.093Z,1628967226.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,004CD,187,80,80,1D,FF
2021-08-14T18:53:46.094Z,1628967226.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:46.166Z,1628967226.166 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:46.506Z,1628967226.506 [Micromodem](INFO): Nmea in: $SNTTA,0.042719,,,,185347.19*4D

2021-08-14T18:53:46.536Z,1628967226.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 350.986291 deg, deltaT: 4.492842 s, approachRate: -0.026710 m/s, LOS rate: -6.654292 deg/s, posRepo size: 4
2021-08-14T18:53:46.538Z,1628967226.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.239998 m,
      bearing: 350.986291 deg,
      approachRate: -0.026710 m/s,
      LOS rate: -6.654292 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 87.754119 deg,
      new cmd heading: 89.989254 deg.

2021-08-14T18:53:48.993Z,1628967228.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:49.321Z,1628967229.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:49.321Z,1628967229.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:49.321Z,1628967229.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:49.322Z,1628967229.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:49.758Z,1628967229.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,004CD,187,80,80,1D,FF
2021-08-14T18:53:49.758Z,1628967229.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:49.758Z,1628967229.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:49.762Z,1628967229.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:50.149Z,1628967230.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:50.559Z,1628967230.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,004CF,188,80,80,98,FF
2021-08-14T18:53:50.559Z,1628967230.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:50.643Z,1628967230.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:50.981Z,1628967230.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185351.70*52

2021-08-14T18:53:51.007Z,1628967231.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 345.347314 deg, deltaT: 4.476861 s, approachRate: 0.026805 m/s, LOS rate: -1.259583 deg/s, posRepo size: 4
2021-08-14T18:53:51.008Z,1628967231.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 36.36 m.
2021-08-14T18:53:51.030Z,1628967231.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.360001 m,
      bearing: 345.347314 deg,
      approachRate: 0.026805 m/s,
      LOS rate: -1.259583 deg/s,
      cmd update: -5.038331 deg/s,
      cmd heading: 33.982370 deg,
      new cmd heading: 29.573150 deg.

2021-08-14T18:53:53.406Z,1628967233.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:53.793Z,1628967233.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:53.793Z,1628967233.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:53.793Z,1628967233.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:53.794Z,1628967233.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:54.269Z,1628967234.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,004CF,188,80,80,98,FF
2021-08-14T18:53:54.269Z,1628967234.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:54.269Z,1628967234.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:54.271Z,1628967234.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:54.698Z,1628967234.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:53:54.712Z,1628967234.712 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T18:53:55.073Z,1628967235.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,004EB,189,80,80,4E,FF
2021-08-14T18:53:55.073Z,1628967235.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:53:55.267Z,1628967235.267 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 00FB17611E0001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-14T18:53:55.268Z,1628967235.268 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-14T18:53:55.268Z,1628967235.268 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70718F8FD2355F6D0E14A77BD49E83F75B2EEF8D65A06EE23C5500B695D673CDE909D990D3
2021-08-14T18:53:55.269Z,1628967235.269 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-14T18:53:55.348Z,1628967235.348 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:53:55.532Z,1628967235.532 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-14T18:53:55.564Z,1628967235.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 5.550812 deg, deltaT: 4.705313 s, approachRate: 0.357043 m/s, LOS rate: 4.293763 deg/s, posRepo size: 4
2021-08-14T18:53:55.564Z,1628967235.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 38.04 m.
2021-08-14T18:53:55.566Z,1628967235.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.040001 m,
      bearing: 5.550812 deg,
      approachRate: 0.357043 m/s,
      LOS rate: 4.293763 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 10.276544 deg,
      new cmd heading: 9.173795 deg.

2021-08-14T18:53:55.921Z,1628967235.921 [Micromodem](INFO): Nmea in: $CADRQ,185357,1,10,0,64,1*7B

2021-08-14T18:53:55.922Z,1628967235.922 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611E0001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*41

2021-08-14T18:53:56.449Z,1628967236.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185356.21*51

2021-08-14T18:53:56.449Z,1628967236.449 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,185356.21*51

2021-08-14T18:53:57.647Z,1628967237.647 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T18:53:58.078Z,1628967238.078 [Micromodem](INFO): Nmea in: $CADRQ,185357,1,10,0,64,2*78

2021-08-14T18:53:58.079Z,1628967238.079 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-14T18:53:58.235Z,1628967238.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:53:58.465Z,1628967238.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:53:58.466Z,1628967238.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:53:58.468Z,1628967238.468 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:53:58.477Z,1628967238.477 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:53:58.482Z,1628967238.482 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T18:53:58.845Z,1628967238.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,004EB,189,80,80,4E,FF
2021-08-14T18:53:58.845Z,1628967238.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:53:58.845Z,1628967238.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:53:58.847Z,1628967238.847 [Micromodem](INFO): Nmea in: $CADRQ,185400,1,10,0,64,3*7C

2021-08-14T18:53:58.847Z,1628967238.847 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B70718F8FD2355F6D0E14A77BD49E83F75B2EEF8D65A06EE23C5500B695D673CDE909D990D3*33

2021-08-14T18:53:59.263Z,1628967239.263 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T18:53:59.263Z,1628967239.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:53:59.688Z,1628967239.688 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-14T18:53:59.689Z,1628967239.689 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-14T18:54:00.735Z,1628967240.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:03.362Z,1628967243.362 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-14T18:54:03.362Z,1628967243.362 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-14T18:54:03.412Z,1628967243.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:03.765Z,1628967243.765 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,185400.831018,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*63

2021-08-14T18:54:03.765Z,1628967243.765 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,185400.831018,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*63

2021-08-14T18:54:04.596Z,1628967244.596 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.126991
2021-08-14T18:54:06.267Z,1628967246.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:06.623Z,1628967246.623 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:06.623Z,1628967246.623 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:06.624Z,1628967246.624 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:06.625Z,1628967246.625 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:06.633Z,1628967246.633 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T18:54:06.997Z,1628967246.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,004EB,189,80,80,4E,FF
2021-08-14T18:54:06.997Z,1628967246.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:06.997Z,1628967246.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:06.999Z,1628967246.999 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T18:54:07.422Z,1628967247.422 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-14T18:54:07.423Z,1628967247.423 [Micromodem](INFO): Sent 184 bytes from file Logs/20210814T171856/Courier0030.lzma.parts
2021-08-14T18:54:07.423Z,1628967247.423 [Micromodem](INFO): Packets left to send: 1
2021-08-14T18:54:07.830Z,1628967247.830 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814185407.474874,06,32767,45,0111,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,20.1,9.12,19,-6.12,-01,0.02,44,14500,4000*60

2021-08-14T18:54:07.830Z,1628967247.830 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814185407.474874,06,32767,45,0111,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,20.1,9.12,19,-6.12,-01,0.02,44,14500,4000*60

2021-08-14T18:54:08.039Z,1628967248.039 [Micromodem](INFO): Using rate 1 for 21 bytes.
2021-08-14T18:54:08.042Z,1628967248.042 [Micromodem](INFO): Outgoing frame #1, 21 bytes: 00FB17611E000000641163064D68BBD8C87EAD3A00
2021-08-14T18:54:09.330Z,1628967249.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:10.310Z,1628967250.310 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:10.740Z,1628967250.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:10.752Z,1628967250.752 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:54:11.105Z,1628967251.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E48,000,00548,186,80,80,91,FF
2021-08-14T18:54:11.106Z,1628967251.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:54:11.109Z,1628967251.109 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:54:11.127Z,1628967251.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T18:54:11.549Z,1628967251.549 [Micromodem](INFO): Nmea in: $CADRQ,185412,1,10,0,64,1*7D

2021-08-14T18:54:11.550Z,1628967251.550 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-14T18:54:11.550Z,1628967251.550 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611E000000641163064D68BBD8C87EAD3A00*45

2021-08-14T18:54:11.841Z,1628967251.841 [Micromodem](INFO): Using rate 0 for 21 bytes.
2021-08-14T18:54:11.842Z,1628967251.842 [Micromodem](INFO): Outgoing frame #1, 21 bytes: 00FB17611E000000641163064D68BBD8C87EAD3A00
2021-08-14T18:54:11.884Z,1628967251.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 79.404822 deg, deltaT: 15.778719 s, approachRate: 0.353640 m/s, LOS rate: 4.680609 deg/s, posRepo size: 4
2021-08-14T18:54:11.886Z,1628967251.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.619995 m,
      bearing: 79.404822 deg,
      approachRate: 0.353640 m/s,
      LOS rate: 4.680609 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 199.623721 deg,
      new cmd heading: 208.747933 deg.

2021-08-14T18:54:12.126Z,1628967252.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185412.24*53

2021-08-14T18:54:12.126Z,1628967252.126 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,185412.24*53

2021-08-14T18:54:12.164Z,1628967252.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T18:54:12.164Z,1628967252.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:54:12.165Z,1628967252.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T18:54:12.165Z,1628967252.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T18:54:12.165Z,1628967252.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T18:54:12.165Z,1628967252.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T18:54:12.526Z,1628967252.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T18:54:12.526Z,1628967252.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:54:12.526Z,1628967252.526 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T18:54:12.527Z,1628967252.527 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T18:54:13.301Z,1628967253.301 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,21*48

2021-08-14T18:54:13.301Z,1628967253.301 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:54:13.754Z,1628967253.754 [Micromodem](INFO): Nmea in: $CATXP,21*71

2021-08-14T18:54:13.755Z,1628967253.755 [Micromodem](ERROR): Response from modem unexpected: $CATXP,21*71

2021-08-14T18:54:13.783Z,1628967253.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:14.181Z,1628967254.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:14.181Z,1628967254.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:14.181Z,1628967254.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:14.182Z,1628967254.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:14.187Z,1628967254.187 [Micromodem](INFO): Nmea in: $CATXF,21*67

2021-08-14T18:54:14.189Z,1628967254.189 [Micromodem](ERROR): Response from modem unexpected: $CATXF,21*67

2021-08-14T18:54:14.577Z,1628967254.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E48,000,00548,186,80,80,91,FF
2021-08-14T18:54:14.577Z,1628967254.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:14.577Z,1628967254.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:14.600Z,1628967254.600 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,185413.466716,3,0,200,4000,14500,1,1,10,1,1,1,3,21,14500*5F

2021-08-14T18:54:14.601Z,1628967254.601 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,185413.466716,3,0,200,4000,14500,1,1,10,1,1,1,3,21,14500*5F

2021-08-14T18:54:16.699Z,1628967256.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:19.462Z,1628967259.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:20.236Z,1628967260.236 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.053891
2021-08-14T18:54:22.153Z,1628967262.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:22.303Z,1628967262.303 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:22.303Z,1628967262.303 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:22.303Z,1628967262.303 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:22.304Z,1628967262.304 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:22.725Z,1628967262.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E48,000,00548,186,80,80,91,FF
2021-08-14T18:54:22.725Z,1628967262.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:22.725Z,1628967262.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:24.324Z,1628967264.324 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:54:24.734Z,1628967264.734 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:54:24.735Z,1628967264.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:24.892Z,1628967264.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:25.127Z,1628967265.127 [Micromodem](INFO): Nmea in: $CADRQ,185426,1,10,0,64,1*7A

2021-08-14T18:54:25.127Z,1628967265.127 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,185426,1,10,0,64,1*7A

2021-08-14T18:54:25.529Z,1628967265.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,005BA,185,80,80,82,FF
2021-08-14T18:54:25.530Z,1628967265.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:54:25.534Z,1628967265.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:25.961Z,1628967265.961 [Micromodem](INFO): Nmea in: $SNTTA,0.043024,,,,185426.67*4C

2021-08-14T18:54:26.077Z,1628967266.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 102.830383 deg, deltaT: 14.467848 s, approachRate: 0.472772 m/s, LOS rate: 1.619146 deg/s, posRepo size: 4
2021-08-14T18:54:26.079Z,1628967266.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 102.830383 deg,
      approachRate: 0.472772 m/s,
      LOS rate: 1.619146 deg/s,
      cmd update: 6.476585 deg/s,
      cmd heading: 13.192085 deg,
      new cmd heading: 19.017797 deg.

2021-08-14T18:54:28.760Z,1628967268.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:28.869Z,1628967268.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:28.870Z,1628967268.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:28.870Z,1628967268.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:28.871Z,1628967268.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:29.261Z,1628967269.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,005BA,185,80,80,82,FF
2021-08-14T18:54:29.261Z,1628967269.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:29.262Z,1628967269.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:29.292Z,1628967269.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:29.698Z,1628967269.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:30.108Z,1628967270.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,139,000,005DE,186,80,80,88,FF
2021-08-14T18:54:30.109Z,1628967270.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:54:30.491Z,1628967270.491 [Micromodem](INFO): Nmea in: $SNTTA,,0.269419,,,185431.23*4A

2021-08-14T18:54:30.537Z,1628967270.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 53.341230 deg, deltaT: 4.575618 s, approachRate: 0.472069 m/s, LOS rate: -10.815840 deg/s, posRepo size: 4
2021-08-14T18:54:30.538Z,1628967270.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 52.62 m. Rolling out.
2021-08-14T18:54:30.538Z,1628967270.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T18:54:32.572Z,1628967272.572 [DDM](ERROR): Could not parse latch state
2021-08-14T18:54:33.114Z,1628967273.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:33.305Z,1628967273.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:33.305Z,1628967273.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:33.305Z,1628967273.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:33.306Z,1628967273.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:33.741Z,1628967273.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
139,000,005DE,186,80,80,88,FF
2021-08-14T18:54:33.741Z,1628967273.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:33.741Z,1628967273.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:33.743Z,1628967273.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:34.129Z,1628967274.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:34.945Z,1628967274.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185435.68*5E

2021-08-14T18:54:35.763Z,1628967275.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:37.337Z,1628967277.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,88,FF
2021-08-14T18:54:37.337Z,1628967277.337 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,88,FF
2021-08-14T18:54:37.337Z,1628967277.337 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:54:38.603Z,1628967278.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:38.953Z,1628967278.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:38.953Z,1628967278.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:38.953Z,1628967278.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:38.954Z,1628967278.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:39.374Z,1628967279.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,88,FF
2021-08-14T18:54:39.374Z,1628967279.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:39.375Z,1628967279.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:39.425Z,1628967279.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:39.924Z,1628967279.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:40.734Z,1628967280.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185441.41*56

2021-08-14T18:54:41.140Z,1628967281.140 [PowerOnly](INFO): Powering down loadControl
2021-08-14T18:54:41.178Z,1628967281.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:42.773Z,1628967282.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,88,FF
2021-08-14T18:54:42.773Z,1628967282.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,88,FF
2021-08-14T18:54:42.774Z,1628967282.774 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:54:44.086Z,1628967284.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:44.397Z,1628967284.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:44.397Z,1628967284.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:44.398Z,1628967284.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:44.399Z,1628967284.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:44.793Z,1628967284.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,88,FF
2021-08-14T18:54:44.793Z,1628967284.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:44.794Z,1628967284.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:44.795Z,1628967284.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:45.200Z,1628967285.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:46.086Z,1628967286.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185446.73*50

2021-08-14T18:54:46.860Z,1628967286.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:47.243Z,1628967287.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,05A7A,187,80,80,46,FF
2021-08-14T18:54:47.243Z,1628967287.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:54:47.718Z,1628967287.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1352.219971 m, bearing: 55.406778 deg, deltaT: 17.152362 s, approachRate: 75.767990 m/s, LOS rate: 0.120424 deg/s, posRepo size: 4
2021-08-14T18:54:50.205Z,1628967290.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:50.557Z,1628967290.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:50.557Z,1628967290.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:50.557Z,1628967290.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:50.558Z,1628967290.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:50.945Z,1628967290.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,05A7A,187,80,80,46,FF
2021-08-14T18:54:50.945Z,1628967290.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:50.946Z,1628967290.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:50.947Z,1628967290.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:51.348Z,1628967291.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:51.749Z,1628967291.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,0067B,189,80,80,6C,FF
2021-08-14T18:54:51.749Z,1628967291.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:54:52.181Z,1628967292.181 [Micromodem](INFO): Nmea in: $SNTTA,0.481311,0.481673,,,185452.88*50

2021-08-14T18:54:52.278Z,1628967292.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.039997 m, bearing: 9.035544 deg, deltaT: 4.457011 s, approachRate: -289.472015 m/s, LOS rate: -10.404110 deg/s, posRepo size: 4
2021-08-14T18:54:54.574Z,1628967294.574 [Micromodem](INFO): Nmea in: $CAERR,185456,DATA_TIMEOUT,1*45

2021-08-14T18:54:54.843Z,1628967294.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:55.001Z,1628967295.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:55.002Z,1628967295.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:55.002Z,1628967295.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:55.003Z,1628967295.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:55.397Z,1628967295.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,0067B,189,80,80,6C,FF
2021-08-14T18:54:55.397Z,1628967295.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:55.397Z,1628967295.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:55.399Z,1628967295.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:54:55.825Z,1628967295.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:54:56.221Z,1628967296.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00697,189,80,80,63,FF
2021-08-14T18:54:56.222Z,1628967296.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:54:56.670Z,1628967296.670 [Micromodem](INFO): Nmea in: $SNTTA,0.075955,,,,185457.33*41

2021-08-14T18:54:56.723Z,1628967296.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 10.303923 deg, deltaT: 4.495902 s, approachRate: 0.373674 m/s, LOS rate: 0.282119 deg/s, posRepo size: 4
2021-08-14T18:54:59.258Z,1628967299.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:54:59.453Z,1628967299.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:54:59.453Z,1628967299.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:54:59.453Z,1628967299.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:54:59.454Z,1628967299.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:54:59.857Z,1628967299.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00697,189,80,80,63,FF
2021-08-14T18:54:59.857Z,1628967299.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:54:59.857Z,1628967299.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:54:59.859Z,1628967299.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:00.265Z,1628967300.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:00.690Z,1628967300.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,006B9,185,80,80,4F,FF
2021-08-14T18:55:00.691Z,1628967300.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:01.320Z,1628967301.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.759995 m, bearing: 43.848879 deg, deltaT: 4.469330 s, approachRate: 0.456444 m/s, LOS rate: 7.505589 deg/s, posRepo size: 4
2021-08-14T18:55:03.570Z,1628967303.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:03.908Z,1628967303.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:03.908Z,1628967303.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:03.908Z,1628967303.908 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:03.909Z,1628967303.909 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:04.305Z,1628967304.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,006B9,185,80,80,4F,FF
2021-08-14T18:55:04.305Z,1628967304.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:04.305Z,1628967304.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:04.307Z,1628967304.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:04.737Z,1628967304.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:05.113Z,1628967305.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,006D5,189,80,80,8A,FF
2021-08-14T18:55:05.113Z,1628967305.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:05.559Z,1628967305.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185506.24*57

2021-08-14T18:55:05.823Z,1628967305.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 353.319621 deg, deltaT: 4.437574 s, approachRate: 0.378587 m/s, LOS rate: -11.386687 deg/s, posRepo size: 4
2021-08-14T18:55:07.874Z,1628967307.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:08.121Z,1628967308.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:08.121Z,1628967308.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:08.121Z,1628967308.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:08.122Z,1628967308.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:08.485Z,1628967308.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,006D5,189,80,80,8A,FF
2021-08-14T18:55:08.486Z,1628967308.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:08.486Z,1628967308.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:08.490Z,1628967308.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:08.888Z,1628967308.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:09.287Z,1628967309.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,006F3,184,80,80,86,FF
2021-08-14T18:55:09.288Z,1628967309.288 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:09.761Z,1628967309.761 [Micromodem](INFO): Nmea in: $SNTTA,0.090498,,,,185510.43*43

2021-08-14T18:55:09.804Z,1628967309.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 41.707894 deg, deltaT: 4.170134 s, approachRate: 0.431642 m/s, LOS rate: 11.603530 deg/s, posRepo size: 4
2021-08-14T18:55:12.368Z,1628967312.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:12.550Z,1628967312.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:12.550Z,1628967312.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:12.550Z,1628967312.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:12.551Z,1628967312.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:12.949Z,1628967312.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,006F3,184,80,80,86,FF
2021-08-14T18:55:12.949Z,1628967312.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:12.949Z,1628967312.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:12.951Z,1628967312.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:13.344Z,1628967313.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:13.757Z,1628967313.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,00715,186,80,80,81,FF
2021-08-14T18:55:13.757Z,1628967313.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:14.190Z,1628967314.190 [Micromodem](INFO): Nmea in: $SNTTA,,0.478440,,,185514.89*46

2021-08-14T18:55:14.417Z,1628967314.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 53.357619 deg, deltaT: 4.466679 s, approachRate: 0.456715 m/s, LOS rate: 2.608140 deg/s, posRepo size: 4
2021-08-14T18:55:16.324Z,1628967316.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:16.646Z,1628967316.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:16.646Z,1628967316.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:16.647Z,1628967316.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:16.649Z,1628967316.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:17.046Z,1628967317.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,00715,186,80,80,81,FF
2021-08-14T18:55:17.046Z,1628967317.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:17.046Z,1628967317.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:17.048Z,1628967317.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:17.471Z,1628967317.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:17.484Z,1628967317.484 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T18:55:17.849Z,1628967317.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,454,000,0073B,189,80,80,83,FF
2021-08-14T18:55:17.850Z,1628967317.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:18.090Z,1628967318.090 [Micromodem](INFO): Using rate 0 for 21 bytes.
2021-08-14T18:55:18.091Z,1628967318.091 [Micromodem](INFO): Outgoing frame #1, 21 bytes: 00FB17611E000000641163064D68BBD8C87EAD3A00
2021-08-14T18:55:18.094Z,1628967318.094 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:55:18.394Z,1628967318.394 [Micromodem](INFO): Nmea in: $SNTTA,0.431328,0.431197,,,185518.98*59

2021-08-14T18:55:18.394Z,1628967318.394 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.431328,0.431197,,,185518.98*59

2021-08-14T18:55:18.691Z,1628967318.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 345.688114 deg, deltaT: 4.389784 s, approachRate: 0.519387 m/s, LOS rate: -15.415226 deg/s, posRepo size: 4
2021-08-14T18:55:19.713Z,1628967319.713 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:55:20.129Z,1628967320.129 [Micromodem](INFO): Nmea in: $CADRQ,185519,1,10,0,64,1*77

2021-08-14T18:55:20.129Z,1628967320.129 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-14T18:55:20.130Z,1628967320.130 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB17611E000000641163064D68BBD8C87EAD3A00*45

2021-08-14T18:55:20.357Z,1628967320.357 [Micromodem](INFO): Using rate 0 for 21 bytes.
2021-08-14T18:55:20.357Z,1628967320.357 [Micromodem](INFO): Outgoing frame #1, 21 bytes: 00FB17611E000000641163064D68BBD8C87EAD3A00
2021-08-14T18:55:20.602Z,1628967320.602 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,21*48

2021-08-14T18:55:20.603Z,1628967320.603 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:55:20.880Z,1628967320.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:21.041Z,1628967321.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:21.041Z,1628967321.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:21.041Z,1628967321.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:21.042Z,1628967321.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:21.047Z,1628967321.047 [Micromodem](INFO): Nmea in: $CATXP,21*71

2021-08-14T18:55:21.048Z,1628967321.048 [Micromodem](ERROR): Response from modem unexpected: $CATXP,21*71

2021-08-14T18:55:21.437Z,1628967321.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
454,000,0073B,189,80,80,83,FF
2021-08-14T18:55:21.438Z,1628967321.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:21.438Z,1628967321.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:22.250Z,1628967322.250 [Micromodem](INFO): Nmea in: $CATXF,21*67

2021-08-14T18:55:22.251Z,1628967322.251 [Micromodem](ERROR): Response from modem unexpected: $CATXF,21*67

2021-08-14T18:55:22.270Z,1628967322.270 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T18:55:22.682Z,1628967322.682 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,185522.046370,3,0,200,4000,14500,1,1,10,1,1,1,3,21,14500*5E

2021-08-14T18:55:22.683Z,1628967322.683 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,185522.046370,3,0,200,4000,14500,1,1,10,1,1,1,3,21,14500*5E

2021-08-14T18:55:23.508Z,1628967323.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:24.282Z,1628967324.282 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T18:55:24.283Z,1628967324.283 [Micromodem](INFO): Sent 13 bytes from file Logs/20210814T171856/Courier0030.lzma.parts
2021-08-14T18:55:24.283Z,1628967324.283 [Micromodem](INFO): Packets left to send: 0
2021-08-14T18:55:24.698Z,1628967324.698 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814185524.922682,06,32767,45,0135,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,16.2,7.00,17,-4.00,-01,0.90,38,14500,4000*6A

2021-08-14T18:55:24.699Z,1628967324.699 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814185524.922682,06,32767,45,0135,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,16.2,7.00,17,-4.00,-01,0.90,38,14500,4000*6A

2021-08-14T18:55:24.950Z,1628967324.950 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T18:55:24.950Z,1628967324.950 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T18:55:24.950Z,1628967324.950 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T18:55:24.950Z,1628967324.950 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T18:55:24.951Z,1628967324.951 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T18:55:25.735Z,1628967325.735 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:55:26.152Z,1628967326.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:27.304Z,1628967327.304 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.262010
2021-08-14T18:55:28.952Z,1628967328.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:29.317Z,1628967329.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:29.317Z,1628967329.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:29.317Z,1628967329.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:29.318Z,1628967329.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:29.737Z,1628967329.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
454,000,0073B,189,80,80,83,FF
2021-08-14T18:55:29.737Z,1628967329.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:29.737Z,1628967329.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:31.742Z,1628967331.742 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-14T18:55:31.822Z,1628967331.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:32.151Z,1628967332.151 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T18:55:32.151Z,1628967332.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:32.157Z,1628967332.157 [Micromodem](INFO): Nmea in: $CADRQ,185533,1,10,0,64,1*7F

2021-08-14T18:55:32.158Z,1628967332.158 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,185533,1,10,0,64,1*7F

2021-08-14T18:55:32.561Z,1628967332.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:33.378Z,1628967333.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185534.09*59

2021-08-14T18:55:34.598Z,1628967334.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:35.396Z,1628967335.396 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077888
2021-08-14T18:55:35.773Z,1628967335.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,83,FF
2021-08-14T18:55:35.773Z,1628967335.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,83,FF
2021-08-14T18:55:35.773Z,1628967335.773 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:55:37.251Z,1628967337.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:37.629Z,1628967337.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:37.629Z,1628967337.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:37.629Z,1628967337.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:37.630Z,1628967337.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:38.081Z,1628967338.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,83,FF
2021-08-14T18:55:38.081Z,1628967338.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:38.081Z,1628967338.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:38.083Z,1628967338.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:38.448Z,1628967338.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:38.845Z,1628967338.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,007DC,186,80,80,5B,FF
2021-08-14T18:55:38.846Z,1628967338.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:39.275Z,1628967339.275 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185540.02*51

2021-08-14T18:55:39.313Z,1628967339.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 30.764016 deg, deltaT: 20.698730 s, approachRate: 0.466695 m/s, LOS rate: 2.177714 deg/s, posRepo size: 4
2021-08-14T18:55:41.741Z,1628967341.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:42.116Z,1628967342.116 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:42.116Z,1628967342.116 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:42.117Z,1628967342.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:42.117Z,1628967342.117 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:42.493Z,1628967342.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,007DC,186,80,80,5B,FF
2021-08-14T18:55:42.493Z,1628967342.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:42.493Z,1628967342.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:42.496Z,1628967342.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:42.892Z,1628967342.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:43.297Z,1628967343.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12D,000,007FF,186,80,80,5A,FF
2021-08-14T18:55:43.297Z,1628967343.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:43.761Z,1628967343.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185544.43*50

2021-08-14T18:55:43.786Z,1628967343.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.320007 m, bearing: 27.159945 deg, deltaT: 4.409241 s, approachRate: 0.476274 m/s, LOS rate: -0.817390 deg/s, posRepo size: 4
2021-08-14T18:55:46.190Z,1628967346.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:46.553Z,1628967346.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:46.553Z,1628967346.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:46.553Z,1628967346.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:46.554Z,1628967346.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:46.945Z,1628967346.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12D,000,007FF,186,80,80,5A,FF
2021-08-14T18:55:46.945Z,1628967346.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:46.945Z,1628967346.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:46.947Z,1628967346.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:47.353Z,1628967347.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:47.753Z,1628967347.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00823,186,80,80,57,FF
2021-08-14T18:55:47.753Z,1628967347.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:48.202Z,1628967348.202 [Micromodem](INFO): Nmea in: $SNTTA,0.479643,,,,185548.89*4F

2021-08-14T18:55:48.239Z,1628967348.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 25.694239 deg, deltaT: 4.537684 s, approachRate: 0.476013 m/s, LOS rate: -0.323007 deg/s, posRepo size: 4
2021-08-14T18:55:50.603Z,1628967350.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:50.989Z,1628967350.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:50.990Z,1628967350.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:50.990Z,1628967350.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:50.991Z,1628967350.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:51.401Z,1628967351.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00823,186,80,80,57,FF
2021-08-14T18:55:51.401Z,1628967351.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:51.401Z,1628967351.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:51.403Z,1628967351.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:51.797Z,1628967351.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:52.205Z,1628967352.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00846,186,80,80,5D,FF
2021-08-14T18:55:52.205Z,1628967352.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:52.209Z,1628967352.209 [Micromodem](INFO): Nmea in: $SNTTA,0.072027,0.213689,,,185553.34*51

2021-08-14T18:55:52.648Z,1628967352.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.580002 m, bearing: 34.698102 deg, deltaT: 4.441172 s, approachRate: 0.472848 m/s, LOS rate: 2.027362 deg/s, posRepo size: 4
2021-08-14T18:55:55.073Z,1628967355.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:55.429Z,1628967355.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:55.429Z,1628967355.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:55.429Z,1628967355.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:55.430Z,1628967355.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:55:55.838Z,1628967355.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00846,186,80,80,5D,FF
2021-08-14T18:55:55.838Z,1628967355.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:55:55.838Z,1628967355.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:55:55.840Z,1628967355.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:55:55.842Z,1628967355.842 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T18:55:56.249Z,1628967356.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:55:56.645Z,1628967356.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB0,000,00864,188,80,80,7D,FF
2021-08-14T18:55:56.646Z,1628967356.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:55:57.081Z,1628967357.081 [Micromodem](INFO): Nmea in: $SNTTA,0.079869,,,,185557.78*4D

2021-08-14T18:55:57.118Z,1628967357.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 84.392110 deg, deltaT: 4.424837 s, approachRate: 0.406794 m/s, LOS rate: 11.230698 deg/s, posRepo size: 4
2021-08-14T18:55:59.487Z,1628967359.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:55:59.873Z,1628967359.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:55:59.873Z,1628967359.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:55:59.873Z,1628967359.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:55:59.874Z,1628967359.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:00.285Z,1628967360.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB0,000,00864,188,80,80,7D,FF
2021-08-14T18:56:00.286Z,1628967360.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:00.286Z,1628967360.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:00.287Z,1628967360.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:00.704Z,1628967360.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:01.093Z,1628967361.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEE,000,0088C,189,80,80,5E,FF
2021-08-14T18:56:01.093Z,1628967361.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:01.532Z,1628967361.532 [Micromodem](INFO): Nmea in: $SNTTA,0.073769,,,,185602.22*44

2021-08-14T18:56:01.552Z,1628967361.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.780006 m, bearing: 80.965240 deg, deltaT: 4.412307 s, approachRate: 0.543935 m/s, LOS rate: -0.776662 deg/s, posRepo size: 4
2021-08-14T18:56:01.910Z,1628967361.910 [Micromodem](INFO): Nmea in: $CAERR,185603,DATA_TIMEOUT,1*47

2021-08-14T18:56:03.953Z,1628967363.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:04.325Z,1628967364.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:04.325Z,1628967364.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:04.325Z,1628967364.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:04.326Z,1628967364.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:04.741Z,1628967364.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEE,000,0088C,189,80,80,5E,FF
2021-08-14T18:56:04.741Z,1628967364.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:04.741Z,1628967364.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:04.743Z,1628967364.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:05.129Z,1628967365.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:05.945Z,1628967365.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185606.68*5C

2021-08-14T18:56:06.788Z,1628967366.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:08.354Z,1628967368.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,5E,FF
2021-08-14T18:56:08.354Z,1628967368.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,5E,FF
2021-08-14T18:56:08.354Z,1628967368.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:56:09.591Z,1628967369.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:09.989Z,1628967369.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:09.989Z,1628967369.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:09.989Z,1628967369.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:09.989Z,1628967369.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:10.389Z,1628967370.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,5E,FF
2021-08-14T18:56:10.389Z,1628967370.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:10.390Z,1628967370.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:10.391Z,1628967370.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:10.788Z,1628967370.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:11.195Z,1628967371.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,008DD,188,80,80,50,FF
2021-08-14T18:56:11.197Z,1628967371.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:11.629Z,1628967371.629 [Micromodem](INFO): Nmea in: $SNTTA,0.071337,,,,185612.33*48

2021-08-14T18:56:11.656Z,1628967371.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.639999 m, bearing: 68.717051 deg, deltaT: 10.105124 s, approachRate: 0.480943 m/s, LOS rate: -1.212077 deg/s, posRepo size: 4
2021-08-14T18:56:14.088Z,1628967374.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:14.425Z,1628967374.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:14.425Z,1628967374.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:14.425Z,1628967374.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:14.426Z,1628967374.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:14.841Z,1628967374.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,008DD,188,80,80,50,FF
2021-08-14T18:56:14.841Z,1628967374.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:14.842Z,1628967374.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:14.843Z,1628967374.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:15.248Z,1628967375.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:15.637Z,1628967375.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,00900,186,80,80,4B,FF
2021-08-14T18:56:15.637Z,1628967375.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:16.117Z,1628967376.117 [Micromodem](INFO): Nmea in: $SNTTA,0.069177,,,,185616.78*4C

2021-08-14T18:56:16.199Z,1628967376.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 59.335868 deg, deltaT: 4.473446 s, approachRate: 0.469438 m/s, LOS rate: -2.097082 deg/s, posRepo size: 4
2021-08-14T18:56:18.499Z,1628967378.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:18.865Z,1628967378.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:18.865Z,1628967378.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:18.865Z,1628967378.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:18.866Z,1628967378.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:19.267Z,1628967379.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,00900,186,80,80,4B,FF
2021-08-14T18:56:19.267Z,1628967379.267 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:19.267Z,1628967379.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:19.269Z,1628967379.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:19.695Z,1628967379.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:20.105Z,1628967380.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00923,186,80,80,39,FF
2021-08-14T18:56:20.105Z,1628967380.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:20.523Z,1628967380.523 [Micromodem](INFO): Nmea in: $SNTTA,0.070965,,,,185621.21*47

2021-08-14T18:56:20.543Z,1628967380.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 65.911011 deg, deltaT: 4.453375 s, approachRate: 0.471552 m/s, LOS rate: 1.476440 deg/s, posRepo size: 4
2021-08-14T18:56:22.937Z,1628967382.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:23.305Z,1628967383.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:23.305Z,1628967383.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:23.306Z,1628967383.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:23.307Z,1628967383.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:23.729Z,1628967383.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00923,186,80,80,39,FF
2021-08-14T18:56:23.729Z,1628967383.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:23.729Z,1628967383.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:23.731Z,1628967383.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:24.125Z,1628967384.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:24.522Z,1628967384.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00947,187,80,80,84,FF
2021-08-14T18:56:24.522Z,1628967384.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:24.957Z,1628967384.957 [Micromodem](INFO): Nmea in: $SNTTA,0.047736,,,,185625.67*4D

2021-08-14T18:56:24.995Z,1628967384.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 66.191070 deg, deltaT: 4.377792 s, approachRate: 0.493399 m/s, LOS rate: 0.063972 deg/s, posRepo size: 4
2021-08-14T18:56:27.383Z,1628967387.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:27.749Z,1628967387.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:27.749Z,1628967387.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:27.749Z,1628967387.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:27.750Z,1628967387.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:28.165Z,1628967388.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00947,187,80,80,84,FF
2021-08-14T18:56:28.165Z,1628967388.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:28.165Z,1628967388.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:28.167Z,1628967388.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:28.597Z,1628967388.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:28.969Z,1628967388.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,0096D,186,80,80,8E,FF
2021-08-14T18:56:28.969Z,1628967388.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:29.405Z,1628967389.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185630.11*57

2021-08-14T18:56:29.440Z,1628967389.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 65.318807 deg, deltaT: 4.494246 s, approachRate: 0.507315 m/s, LOS rate: -0.194084 deg/s, posRepo size: 4
2021-08-14T18:56:31.834Z,1628967391.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:32.202Z,1628967392.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:32.202Z,1628967392.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:32.202Z,1628967392.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:32.203Z,1628967392.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:32.601Z,1628967392.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,0096D,186,80,80,8E,FF
2021-08-14T18:56:32.602Z,1628967392.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:32.602Z,1628967392.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:32.604Z,1628967392.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:33.028Z,1628967393.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:33.409Z,1628967393.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,0098F,185,80,80,88,FF
2021-08-14T18:56:33.409Z,1628967393.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:33.853Z,1628967393.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185634.54*52

2021-08-14T18:56:33.884Z,1628967393.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 63.145393 deg, deltaT: 4.392162 s, approachRate: 0.464464 m/s, LOS rate: -0.494839 deg/s, posRepo size: 4
2021-08-14T18:56:36.309Z,1628967396.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:36.637Z,1628967396.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:36.637Z,1628967396.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:36.637Z,1628967396.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:36.638Z,1628967396.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:37.042Z,1628967397.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,0098F,185,80,80,88,FF
2021-08-14T18:56:37.043Z,1628967397.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:37.043Z,1628967397.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:37.046Z,1628967397.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:37.463Z,1628967397.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:37.854Z,1628967397.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,009B2,186,80,80,85,FF
2021-08-14T18:56:37.855Z,1628967397.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:38.290Z,1628967398.290 [Micromodem](INFO): Nmea in: $SNTTA,0.076514,,,,185638.98*41

2021-08-14T18:56:38.326Z,1628967398.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.419998 m, bearing: 63.973048 deg, deltaT: 4.508944 s, approachRate: 0.465741 m/s, LOS rate: 0.183559 deg/s, posRepo size: 4
2021-08-14T18:56:40.727Z,1628967400.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:41.082Z,1628967401.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:41.082Z,1628967401.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:41.082Z,1628967401.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:41.083Z,1628967401.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:41.490Z,1628967401.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,009B2,186,80,80,85,FF
2021-08-14T18:56:41.490Z,1628967401.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:41.490Z,1628967401.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:41.493Z,1628967401.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:41.924Z,1628967401.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:42.297Z,1628967402.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,009D7,186,80,80,66,FF
2021-08-14T18:56:42.297Z,1628967402.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:42.301Z,1628967402.301 [Micromodem](INFO): Nmea in: $SNTTA,0.082633,0.206988,,,185643.43*55

2021-08-14T18:56:42.804Z,1628967402.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.639999 m, bearing: 65.951186 deg, deltaT: 4.453154 s, approachRate: 0.498523 m/s, LOS rate: 0.444211 deg/s, posRepo size: 4
2021-08-14T18:56:45.169Z,1628967405.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:45.529Z,1628967405.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:45.529Z,1628967405.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:45.529Z,1628967405.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:45.530Z,1628967405.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:45.933Z,1628967405.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,009D7,186,80,80,66,FF
2021-08-14T18:56:45.933Z,1628967405.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:45.933Z,1628967405.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:45.935Z,1628967405.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:46.345Z,1628967406.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:46.741Z,1628967406.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,009FE,186,80,80,82,FF
2021-08-14T18:56:46.742Z,1628967406.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:47.181Z,1628967407.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185647.87*58

2021-08-14T18:56:47.203Z,1628967407.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 65.592923 deg, deltaT: 4.438853 s, approachRate: 0.527164 m/s, LOS rate: -0.080711 deg/s, posRepo size: 4
2021-08-14T18:56:49.594Z,1628967409.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:49.973Z,1628967409.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:49.973Z,1628967409.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:49.973Z,1628967409.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:49.974Z,1628967409.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:50.385Z,1628967410.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,009FE,186,80,80,82,FF
2021-08-14T18:56:50.385Z,1628967410.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:50.385Z,1628967410.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:50.387Z,1628967410.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:50.867Z,1628967410.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:51.197Z,1628967411.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00A22,186,80,80,91,FF
2021-08-14T18:56:51.197Z,1628967411.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:51.638Z,1628967411.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185652.32*52

2021-08-14T18:56:51.699Z,1628967411.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.139999 m, bearing: 67.211554 deg, deltaT: 4.419511 s, approachRate: 0.488741 m/s, LOS rate: 0.366247 deg/s, posRepo size: 4
2021-08-14T18:56:54.107Z,1628967414.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:54.421Z,1628967414.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:54.421Z,1628967414.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:54.421Z,1628967414.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:54.422Z,1628967414.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:54.817Z,1628967414.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00A22,186,80,80,91,FF
2021-08-14T18:56:54.817Z,1628967414.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:54.817Z,1628967414.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:54.819Z,1628967414.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:55.231Z,1628967415.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:56:55.633Z,1628967415.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00A45,186,80,80,83,FF
2021-08-14T18:56:55.634Z,1628967415.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:56:56.085Z,1628967416.085 [Micromodem](INFO): Nmea in: $SNTTA,0.087410,,,,185656.76*42

2021-08-14T18:56:56.152Z,1628967416.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.239998 m, bearing: 63.846880 deg, deltaT: 4.478314 s, approachRate: 0.468926 m/s, LOS rate: -0.751326 deg/s, posRepo size: 4
2021-08-14T18:56:58.487Z,1628967418.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:56:58.861Z,1628967418.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:56:58.861Z,1628967418.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:56:58.862Z,1628967418.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:56:58.863Z,1628967418.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:56:59.265Z,1628967419.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00A45,186,80,80,83,FF
2021-08-14T18:56:59.265Z,1628967419.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:56:59.265Z,1628967419.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:56:59.267Z,1628967419.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:56:59.690Z,1628967419.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:00.123Z,1628967420.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,00A6B,187,80,80,71,FF
2021-08-14T18:57:00.138Z,1628967420.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:00.141Z,1628967420.141 [Micromodem](INFO): Nmea in: $SNTTA,0.320891,0.320816,,,185701.20*59

2021-08-14T18:57:00.526Z,1628967420.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.519997 m, bearing: 67.738210 deg, deltaT: 4.479792 s, approachRate: 0.508952 m/s, LOS rate: 0.868641 deg/s, posRepo size: 4
2021-08-14T18:57:02.929Z,1628967422.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:03.309Z,1628967423.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:03.310Z,1628967423.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:03.310Z,1628967423.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:03.311Z,1628967423.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:03.733Z,1628967423.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,00A6B,187,80,80,71,FF
2021-08-14T18:57:03.733Z,1628967423.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:03.733Z,1628967423.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:03.735Z,1628967423.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:04.141Z,1628967424.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:04.530Z,1628967424.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,00A8B,187,80,80,82,FF
2021-08-14T18:57:04.530Z,1628967424.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:04.970Z,1628967424.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.440002 m, bearing: 68.626817 deg, deltaT: 4.342098 s, approachRate: 0.442184 m/s, LOS rate: 0.204649 deg/s, posRepo size: 4
2021-08-14T18:57:07.367Z,1628967427.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:07.745Z,1628967427.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:07.745Z,1628967427.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:07.745Z,1628967427.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:07.746Z,1628967427.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:08.153Z,1628967428.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,00A8B,187,80,80,82,FF
2021-08-14T18:57:08.153Z,1628967428.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:08.154Z,1628967428.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:08.155Z,1628967428.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:08.565Z,1628967428.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:08.981Z,1628967428.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00AB3,186,80,80,8F,FF
2021-08-14T18:57:08.982Z,1628967428.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:09.409Z,1628967429.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185710.09*5D

2021-08-14T18:57:09.432Z,1628967429.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.839996 m, bearing: 65.450172 deg, deltaT: 4.461778 s, approachRate: 0.537901 m/s, LOS rate: -0.711969 deg/s, posRepo size: 4
2021-08-14T18:57:11.826Z,1628967431.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:12.212Z,1628967432.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:12.212Z,1628967432.212 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:12.212Z,1628967432.212 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:12.213Z,1628967432.213 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:12.601Z,1628967432.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00AB3,186,80,80,8F,FF
2021-08-14T18:57:12.601Z,1628967432.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:12.601Z,1628967432.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:12.603Z,1628967432.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:13.023Z,1628967433.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:13.417Z,1628967433.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00AD4,187,80,80,8A,FF
2021-08-14T18:57:13.417Z,1628967433.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:13.853Z,1628967433.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185714.54*51

2021-08-14T18:57:13.880Z,1628967433.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.820007 m, bearing: 65.525468 deg, deltaT: 4.453721 s, approachRate: 0.444575 m/s, LOS rate: 0.016906 deg/s, posRepo size: 4
2021-08-14T18:57:16.281Z,1628967436.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:16.646Z,1628967436.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:16.647Z,1628967436.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:16.648Z,1628967436.648 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:16.649Z,1628967436.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:17.045Z,1628967437.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00AD4,187,80,80,8A,FF
2021-08-14T18:57:17.046Z,1628967437.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:17.046Z,1628967437.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:17.047Z,1628967437.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:17.449Z,1628967437.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:17.854Z,1628967437.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E48,000,00AF9,185,80,80,9C,FF
2021-08-14T18:57:17.854Z,1628967437.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:18.269Z,1628967438.269 [Micromodem](INFO): Nmea in: $SNTTA,0.429600,0.429669,,,185718.99*53

2021-08-14T18:57:18.329Z,1628967438.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.040009 m, bearing: 64.048651 deg, deltaT: 4.452887 s, approachRate: 0.498553 m/s, LOS rate: -0.331654 deg/s, posRepo size: 4
2021-08-14T18:57:20.734Z,1628967440.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:21.081Z,1628967441.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:21.081Z,1628967441.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:21.081Z,1628967441.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:21.082Z,1628967441.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:21.486Z,1628967441.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E48,000,00AF9,185,80,80,9C,FF
2021-08-14T18:57:21.486Z,1628967441.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:21.486Z,1628967441.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:21.489Z,1628967441.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:21.896Z,1628967441.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:22.297Z,1628967442.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00B1E,186,80,80,92,FF
2021-08-14T18:57:22.298Z,1628967442.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:22.742Z,1628967442.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185723.43*53

2021-08-14T18:57:22.768Z,1628967442.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.259995 m, bearing: 62.874207 deg, deltaT: 4.443889 s, approachRate: 0.499559 m/s, LOS rate: -0.264283 deg/s, posRepo size: 4
2021-08-14T18:57:25.170Z,1628967445.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:25.529Z,1628967445.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:25.529Z,1628967445.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:25.529Z,1628967445.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:25.530Z,1628967445.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:25.929Z,1628967445.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00B1E,186,80,80,92,FF
2021-08-14T18:57:25.929Z,1628967445.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:25.929Z,1628967445.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:25.931Z,1628967445.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:26.337Z,1628967446.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:26.757Z,1628967446.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00B45,186,80,80,89,FF
2021-08-14T18:57:26.757Z,1628967446.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:27.197Z,1628967447.197 [Micromodem](INFO): Nmea in: $SNTTA,0.092260,,,,185727.87*4E

2021-08-14T18:57:27.219Z,1628967447.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.600006 m, bearing: 62.051428 deg, deltaT: 4.449077 s, approachRate: 0.525954 m/s, LOS rate: -0.184932 deg/s, posRepo size: 4
2021-08-14T18:57:29.597Z,1628967449.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:29.981Z,1628967449.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:29.981Z,1628967449.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:29.981Z,1628967449.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:29.982Z,1628967449.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:30.373Z,1628967450.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00B45,186,80,80,89,FF
2021-08-14T18:57:30.373Z,1628967450.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:30.373Z,1628967450.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:30.375Z,1628967450.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:30.781Z,1628967450.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:31.193Z,1628967451.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,00B6C,186,80,80,77,FF
2021-08-14T18:57:31.194Z,1628967451.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:31.625Z,1628967451.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185732.31*56

2021-08-14T18:57:31.703Z,1628967451.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.940002 m, bearing: 63.664098 deg, deltaT: 4.401637 s, approachRate: 0.531620 m/s, LOS rate: 0.366379 deg/s, posRepo size: 4
2021-08-14T18:57:34.083Z,1628967454.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:34.413Z,1628967454.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:34.413Z,1628967454.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:34.413Z,1628967454.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:34.414Z,1628967454.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:34.817Z,1628967454.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,00B6C,186,80,80,77,FF
2021-08-14T18:57:34.817Z,1628967454.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:34.817Z,1628967454.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:34.819Z,1628967454.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:35.237Z,1628967455.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:35.641Z,1628967455.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00B8F,186,80,80,74,FF
2021-08-14T18:57:35.641Z,1628967455.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:36.089Z,1628967456.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185736.76*51

2021-08-14T18:57:36.166Z,1628967456.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.039993 m, bearing: 61.646084 deg, deltaT: 4.507449 s, approachRate: 0.465893 m/s, LOS rate: -0.447706 deg/s, posRepo size: 4
2021-08-14T18:57:38.483Z,1628967458.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:38.861Z,1628967458.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:38.861Z,1628967458.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:38.861Z,1628967458.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:38.862Z,1628967458.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:39.265Z,1628967459.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00B8F,186,80,80,74,FF
2021-08-14T18:57:39.265Z,1628967459.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:39.265Z,1628967459.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:39.267Z,1628967459.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:39.693Z,1628967459.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:40.103Z,1628967460.103 [Micromodem](INFO): Nmea in: $SNTTA,0.280336,0.280286,,,185741.20*58

2021-08-14T18:57:41.310Z,1628967461.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:42.905Z,1628967462.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,74,FF
2021-08-14T18:57:42.905Z,1628967462.905 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,74,FF
2021-08-14T18:57:42.906Z,1628967462.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:57:43.758Z,1628967463.758 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:57:44.153Z,1628967464.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:44.521Z,1628967464.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:44.522Z,1628967464.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:44.522Z,1628967464.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:44.523Z,1628967464.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:44.925Z,1628967464.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,74,FF
2021-08-14T18:57:44.925Z,1628967464.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:44.925Z,1628967464.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:44.927Z,1628967464.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:45.324Z,1628967465.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:45.737Z,1628967465.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00BE6,186,80,80,90,FF
2021-08-14T18:57:45.738Z,1628967465.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:46.177Z,1628967466.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185746.86*59

2021-08-14T18:57:46.228Z,1628967466.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.260010 m, bearing: 64.230197 deg, deltaT: 10.075268 s, approachRate: 0.518102 m/s, LOS rate: 0.256481 deg/s, posRepo size: 4
2021-08-14T18:57:48.607Z,1628967468.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:48.961Z,1628967468.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:48.962Z,1628967468.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:48.962Z,1628967468.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:48.963Z,1628967468.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:49.377Z,1628967469.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00BE6,186,80,80,90,FF
2021-08-14T18:57:49.377Z,1628967469.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:49.377Z,1628967469.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:49.379Z,1628967469.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:49.776Z,1628967469.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:50.194Z,1628967470.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00C08,186,80,80,8F,FF
2021-08-14T18:57:50.194Z,1628967470.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:50.198Z,1628967470.198 [Micromodem](INFO): Nmea in: $SNTTA,0.224956,0.264819,,,185751.32*5E

2021-08-14T18:57:50.620Z,1628967470.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.300003 m, bearing: 64.612838 deg, deltaT: 4.487896 s, approachRate: 0.454554 m/s, LOS rate: 0.085261 deg/s, posRepo size: 4
2021-08-14T18:57:53.037Z,1628967473.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:53.409Z,1628967473.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:53.409Z,1628967473.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:53.409Z,1628967473.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:53.410Z,1628967473.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:53.805Z,1628967473.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00C08,186,80,80,8F,FF
2021-08-14T18:57:53.805Z,1628967473.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:53.805Z,1628967473.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:53.807Z,1628967473.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:53.856Z,1628967473.856 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:57:54.231Z,1628967474.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:54.625Z,1628967474.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00C28,186,80,80,8E,FF
2021-08-14T18:57:54.626Z,1628967474.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:55.057Z,1628967475.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185755.74*56

2021-08-14T18:57:55.084Z,1628967475.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.220001 m, bearing: 63.619524 deg, deltaT: 4.433053 s, approachRate: 0.433110 m/s, LOS rate: -0.224070 deg/s, posRepo size: 4
2021-08-14T18:57:57.484Z,1628967477.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:57:57.849Z,1628967477.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:57:57.849Z,1628967477.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:57:57.849Z,1628967477.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:57:57.850Z,1628967477.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:57:58.284Z,1628967478.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00C28,186,80,80,8E,FF
2021-08-14T18:57:58.285Z,1628967478.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:57:58.285Z,1628967478.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:57:58.286Z,1628967478.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:57:58.692Z,1628967478.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:57:59.077Z,1628967479.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00C53,186,80,80,8E,FF
2021-08-14T18:57:59.078Z,1628967479.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:57:59.490Z,1628967479.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185800.22*5A

2021-08-14T18:57:59.540Z,1628967479.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.800003 m, bearing: 63.924683 deg, deltaT: 4.387304 s, approachRate: 0.588061 m/s, LOS rate: 0.069555 deg/s, posRepo size: 4
2021-08-14T18:58:01.913Z,1628967481.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:02.303Z,1628967482.303 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:02.303Z,1628967482.303 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:02.304Z,1628967482.304 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:02.305Z,1628967482.305 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:02.741Z,1628967482.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00C53,186,80,80,8E,FF
2021-08-14T18:58:02.741Z,1628967482.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:02.741Z,1628967482.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:02.743Z,1628967482.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:03.115Z,1628967483.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:03.911Z,1628967483.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,00C76,186,80,80,8E,FF
2021-08-14T18:58:03.913Z,1628967483.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:03.921Z,1628967483.921 [Micromodem](INFO): Nmea in: $SNTTA,0.104472,,,,185804.68*4A

2021-08-14T18:58:04.370Z,1628967484.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.899994 m, bearing: 62.748702 deg, deltaT: 4.925790 s, approachRate: 0.426326 m/s, LOS rate: -0.238740 deg/s, posRepo size: 4
2021-08-14T18:58:06.785Z,1628967486.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:07.146Z,1628967487.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:07.146Z,1628967487.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:07.147Z,1628967487.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:07.148Z,1628967487.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:07.556Z,1628967487.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,00C76,186,80,80,8E,FF
2021-08-14T18:58:07.557Z,1628967487.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:07.557Z,1628967487.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:07.558Z,1628967487.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:07.944Z,1628967487.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:08.363Z,1628967488.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00C9F,187,80,80,8E,FF
2021-08-14T18:58:08.364Z,1628967488.364 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:08.798Z,1628967488.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185809.50*56

2021-08-14T18:58:08.845Z,1628967488.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 62.856318 deg, deltaT: 4.392984 s, approachRate: 0.559989 m/s, LOS rate: 0.024497 deg/s, posRepo size: 4
2021-08-14T18:58:11.195Z,1628967491.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:11.589Z,1628967491.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:11.589Z,1628967491.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:11.589Z,1628967491.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:11.590Z,1628967491.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:11.989Z,1628967491.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00C9F,187,80,80,8E,FF
2021-08-14T18:58:11.989Z,1628967491.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:11.989Z,1628967491.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:11.991Z,1628967491.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:12.393Z,1628967492.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:12.805Z,1628967492.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00CC5,186,80,80,8E,FF
2021-08-14T18:58:12.805Z,1628967492.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:13.241Z,1628967493.241 [Micromodem](INFO): Nmea in: $SNTTA,0.107650,,,,185813.93*49

2021-08-14T18:58:13.287Z,1628967493.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.639999 m, bearing: 63.374313 deg, deltaT: 4.453899 s, approachRate: 0.511907 m/s, LOS rate: 0.116301 deg/s, posRepo size: 4
2021-08-14T18:58:14.056Z,1628967494.056 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:58:15.680Z,1628967495.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:16.052Z,1628967496.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:16.052Z,1628967496.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:16.053Z,1628967496.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:16.054Z,1628967496.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:16.441Z,1628967496.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00CC5,186,80,80,8E,FF
2021-08-14T18:58:16.441Z,1628967496.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:16.441Z,1628967496.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:16.443Z,1628967496.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:16.841Z,1628967496.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:17.249Z,1628967497.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00CEB,187,80,80,8E,FF
2021-08-14T18:58:17.250Z,1628967497.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:17.689Z,1628967497.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185818.38*58

2021-08-14T18:58:17.721Z,1628967497.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.920013 m, bearing: 62.317259 deg, deltaT: 4.420255 s, approachRate: 0.515811 m/s, LOS rate: -0.239139 deg/s, posRepo size: 4
2021-08-14T18:58:18.879Z,1628967498.879 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:58:20.135Z,1628967500.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:20.469Z,1628967500.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:20.469Z,1628967500.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:20.469Z,1628967500.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:20.470Z,1628967500.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:20.877Z,1628967500.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00CEB,187,80,80,8E,FF
2021-08-14T18:58:20.877Z,1628967500.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:20.878Z,1628967500.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:20.879Z,1628967500.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:21.303Z,1628967501.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:21.706Z,1628967501.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00DAD,186,80,80,8E,FF
2021-08-14T18:58:21.706Z,1628967501.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:22.134Z,1628967502.134 [Micromodem](INFO): Nmea in: $SNTTA,0.116863,,,,185822.82*45

2021-08-14T18:58:22.170Z,1628967502.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.559998 m, bearing: 62.049591 deg, deltaT: 4.472297 s, approachRate: 2.602686 m/s, LOS rate: -0.059850 deg/s, posRepo size: 4
2021-08-14T18:58:24.544Z,1628967504.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:24.921Z,1628967504.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:24.921Z,1628967504.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:24.921Z,1628967504.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:24.922Z,1628967504.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:24.969Z,1628967504.969 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T18:58:25.325Z,1628967505.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00DAD,186,80,80,8E,FF
2021-08-14T18:58:25.325Z,1628967505.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:25.325Z,1628967505.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:25.327Z,1628967505.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:25.736Z,1628967505.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:26.154Z,1628967506.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00D36,187,80,80,8E,FF
2021-08-14T18:58:26.154Z,1628967506.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:26.158Z,1628967506.158 [Micromodem](INFO): Nmea in: $SNTTA,0.289362,0.289431,,,185827.27*5B

2021-08-14T18:58:26.564Z,1628967506.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 63.650799 deg, deltaT: 4.475787 s, approachRate: -1.595250 m/s, LOS rate: 0.357749 deg/s, posRepo size: 4
2021-08-14T18:58:28.979Z,1628967508.979 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:58:28.994Z,1628967508.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:29.357Z,1628967509.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:29.358Z,1628967509.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:29.358Z,1628967509.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:29.359Z,1628967509.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:29.761Z,1628967509.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00D36,187,80,80,8E,FF
2021-08-14T18:58:29.761Z,1628967509.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:29.761Z,1628967509.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:29.763Z,1628967509.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:30.178Z,1628967510.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:30.574Z,1628967510.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00D5B,187,80,80,8E,FF
2021-08-14T18:58:30.574Z,1628967510.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:31.010Z,1628967511.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.639999 m, bearing: 64.803544 deg, deltaT: 4.378443 s, approachRate: 0.507030 m/s, LOS rate: 0.263277 deg/s, posRepo size: 4
2021-08-14T18:58:33.443Z,1628967513.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:33.809Z,1628967513.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:33.809Z,1628967513.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:33.809Z,1628967513.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:33.810Z,1628967513.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:33.857Z,1628967513.857 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T18:58:34.205Z,1628967514.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00D5B,187,80,80,8E,FF
2021-08-14T18:58:34.205Z,1628967514.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:34.205Z,1628967514.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:34.207Z,1628967514.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:34.612Z,1628967514.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:35.018Z,1628967515.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00D5B,187,80,80,8E,FF
2021-08-14T18:58:35.018Z,1628967515.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:35.465Z,1628967515.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185836.15*5B

2021-08-14T18:58:35.507Z,1628967515.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.639999 m, bearing: 66.312613 deg, deltaT: 4.459426 s, approachRate: 0.000000 m/s, LOS rate: 0.338400 deg/s, posRepo size: 4
2021-08-14T18:58:37.887Z,1628967517.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:38.238Z,1628967518.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:38.238Z,1628967518.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:38.239Z,1628967518.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:38.240Z,1628967518.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:38.700Z,1628967518.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00D5B,187,80,80,8E,FF
2021-08-14T18:58:38.700Z,1628967518.700 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:38.701Z,1628967518.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:38.702Z,1628967518.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:39.069Z,1628967519.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:39.883Z,1628967519.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00DAB,189,80,80,86,FF
2021-08-14T18:58:39.884Z,1628967519.884 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:39.891Z,1628967519.891 [Micromodem](INFO): Nmea in: $SNTTA,0.114434,,,,185840.64*45

2021-08-14T18:58:40.339Z,1628967520.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.440018 m, bearing: 5.948215 deg, deltaT: 4.871273 s, approachRate: 0.985372 m/s, LOS rate: -12.391915 deg/s, posRepo size: 4
2021-08-14T18:58:42.755Z,1628967522.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:43.097Z,1628967523.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:43.098Z,1628967523.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:43.098Z,1628967523.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:43.099Z,1628967523.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:43.517Z,1628967523.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00DAB,189,80,80,86,FF
2021-08-14T18:58:43.517Z,1628967523.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:43.518Z,1628967523.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:43.521Z,1628967523.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:43.913Z,1628967523.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:44.757Z,1628967524.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,00DE0,189,80,80,87,FF
2021-08-14T18:58:44.758Z,1628967524.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:44.784Z,1628967524.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185845.46*59

2021-08-14T18:58:45.155Z,1628967525.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.619995 m, bearing: 8.771743 deg, deltaT: 4.871377 s, approachRate: 0.652788 m/s, LOS rate: 0.579616 deg/s, posRepo size: 4
2021-08-14T18:58:47.567Z,1628967527.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:47.950Z,1628967527.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:47.950Z,1628967527.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:47.951Z,1628967527.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:47.952Z,1628967527.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:48.341Z,1628967528.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,00DE0,189,80,80,87,FF
2021-08-14T18:58:48.342Z,1628967528.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:48.342Z,1628967528.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:48.344Z,1628967528.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:48.782Z,1628967528.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:49.578Z,1628967529.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185850.28*55

2021-08-14T18:58:50.425Z,1628967530.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:51.995Z,1628967531.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,87,FF
2021-08-14T18:58:51.995Z,1628967531.995 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,87,FF
2021-08-14T18:58:51.997Z,1628967531.997 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:58:53.235Z,1628967533.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:53.613Z,1628967533.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:53.613Z,1628967533.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:53.613Z,1628967533.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:53.614Z,1628967533.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:54.017Z,1628967534.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,87,FF
2021-08-14T18:58:54.017Z,1628967534.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:54.018Z,1628967534.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:54.044Z,1628967534.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:54.176Z,1628967534.176 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T18:58:54.176Z,1628967534.176 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T18:58:54.176Z,1628967534.176 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T18:58:54.369Z,1628967534.369 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T18:58:54.444Z,1628967534.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:58:54.528Z,1628967534.528 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T18:58:55.255Z,1628967535.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00E3A,189,80,80,78,FF
2021-08-14T18:58:55.255Z,1628967535.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:58:55.259Z,1628967535.259 [Micromodem](INFO): Nmea in: $SNTTA,0.122975,,,,185855.98*4F

2021-08-14T18:58:55.384Z,1628967535.384 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T18:58:55.384Z,1628967535.384 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T18:58:55.677Z,1628967535.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.019989 m, bearing: 10.077132 deg, deltaT: 10.451518 s, approachRate: 0.516671 m/s, LOS rate: 0.124899 deg/s, posRepo size: 4
2021-08-14T18:58:58.145Z,1628967538.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:58:58.499Z,1628967538.499 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:58:58.499Z,1628967538.499 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:58:58.499Z,1628967538.499 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:58:58.500Z,1628967538.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:58:58.865Z,1628967538.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00E3A,189,80,80,78,FF
2021-08-14T18:58:58.865Z,1628967538.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:58:58.865Z,1628967538.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:58:58.867Z,1628967538.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:58:59.287Z,1628967539.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:00.114Z,1628967540.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185900.81*52

2021-08-14T18:59:00.922Z,1628967540.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:02.511Z,1628967542.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,78,FF
2021-08-14T18:59:02.511Z,1628967542.511 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,78,FF
2021-08-14T18:59:02.511Z,1628967542.511 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:59:03.749Z,1628967543.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:04.126Z,1628967544.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:04.126Z,1628967544.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:04.126Z,1628967544.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:04.127Z,1628967544.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:04.531Z,1628967544.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,78,FF
2021-08-14T18:59:04.532Z,1628967544.532 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:04.532Z,1628967544.532 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:04.534Z,1628967544.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:04.931Z,1628967544.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:05.754Z,1628967545.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00E9F,189,80,80,56,FF
2021-08-14T18:59:05.754Z,1628967545.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:05.775Z,1628967545.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185906.48*51

2021-08-14T18:59:06.207Z,1628967546.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.080002 m, bearing: 8.814453 deg, deltaT: 10.553617 s, approachRate: 0.574212 m/s, LOS rate: -0.119644 deg/s, posRepo size: 4
2021-08-14T18:59:08.614Z,1628967548.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:08.965Z,1628967548.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:08.965Z,1628967548.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:08.965Z,1628967548.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:08.966Z,1628967548.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:09.373Z,1628967549.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00E9F,189,80,80,56,FF
2021-08-14T18:59:09.373Z,1628967549.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:09.373Z,1628967549.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:09.375Z,1628967549.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:09.812Z,1628967549.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:10.599Z,1628967550.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,00ECB,189,80,80,3F,FF
2021-08-14T18:59:10.599Z,1628967550.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:10.602Z,1628967550.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185911.32*5A

2021-08-14T18:59:11.059Z,1628967551.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.720001 m, bearing: 7.091523 deg, deltaT: 4.811003 s, approachRate: 0.548742 m/s, LOS rate: -0.358123 deg/s, posRepo size: 4
2021-08-14T18:59:13.451Z,1628967553.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:13.821Z,1628967553.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:13.821Z,1628967553.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:13.821Z,1628967553.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:13.822Z,1628967553.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:14.229Z,1628967554.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,00ECB,189,80,80,3F,FF
2021-08-14T18:59:14.229Z,1628967554.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:14.229Z,1628967554.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:14.230Z,1628967554.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:14.641Z,1628967554.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:15.446Z,1628967555.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185916.17*5A

2021-08-14T18:59:16.287Z,1628967556.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:17.853Z,1628967557.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,3F,FF
2021-08-14T18:59:17.853Z,1628967557.853 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,3F,FF
2021-08-14T18:59:17.853Z,1628967557.853 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T18:59:19.107Z,1628967559.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:19.473Z,1628967559.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:19.473Z,1628967559.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:19.473Z,1628967559.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:19.474Z,1628967559.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:19.873Z,1628967559.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,3F,FF
2021-08-14T18:59:19.873Z,1628967559.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:19.873Z,1628967559.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:19.875Z,1628967559.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:20.280Z,1628967560.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:20.785Z,1628967560.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00F27,189,80,80,35,FF
2021-08-14T18:59:20.786Z,1628967560.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:21.146Z,1628967561.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185921.81*51

2021-08-14T18:59:21.162Z,1628967561.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.239990 m, bearing: 8.135945 deg, deltaT: 10.305194 s, approachRate: 0.535651 m/s, LOS rate: 0.101349 deg/s, posRepo size: 4
2021-08-14T18:59:23.575Z,1628967563.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:23.961Z,1628967563.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:23.961Z,1628967563.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:23.961Z,1628967563.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:23.962Z,1628967563.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:23.980Z,1628967563.980 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:59:24.354Z,1628967564.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00F27,189,80,80,35,FF
2021-08-14T18:59:24.354Z,1628967564.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:24.354Z,1628967564.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:24.356Z,1628967564.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:24.788Z,1628967564.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:25.597Z,1628967565.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00F4F,189,80,80,54,FF
2021-08-14T18:59:25.597Z,1628967565.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:25.600Z,1628967565.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185926.29*54

2021-08-14T18:59:26.074Z,1628967566.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.639999 m, bearing: 7.497709 deg, deltaT: 4.672065 s, approachRate: 0.513693 m/s, LOS rate: -0.136607 deg/s, posRepo size: 4
2021-08-14T18:59:28.439Z,1628967568.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:28.813Z,1628967568.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:28.813Z,1628967568.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:28.813Z,1628967568.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:28.814Z,1628967568.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:29.205Z,1628967569.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00F4F,189,80,80,54,FF
2021-08-14T18:59:29.205Z,1628967569.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:29.206Z,1628967569.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:29.207Z,1628967569.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:29.613Z,1628967569.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:30.437Z,1628967570.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,00F76,189,80,80,6B,FF
2021-08-14T18:59:30.437Z,1628967570.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:30.441Z,1628967570.441 [Micromodem](INFO): Nmea in: $SNTTA,0.349497,,,,185931.15*47

2021-08-14T18:59:30.859Z,1628967570.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.979980 m, bearing: 7.864970 deg, deltaT: 4.913406 s, approachRate: 0.476244 m/s, LOS rate: 0.074747 deg/s, posRepo size: 4
2021-08-14T18:59:33.267Z,1628967573.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:33.649Z,1628967573.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:33.649Z,1628967573.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:33.649Z,1628967573.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:33.650Z,1628967573.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:34.097Z,1628967574.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,00F76,189,80,80,6B,FF
2021-08-14T18:59:34.097Z,1628967574.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:34.097Z,1628967574.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:34.099Z,1628967574.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:34.269Z,1628967574.269 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:59:34.569Z,1628967574.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:34.954Z,1628967574.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,00F76,189,80,80,6B,FF
2021-08-14T18:59:34.955Z,1628967574.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:35.373Z,1628967575.373 [Micromodem](INFO): Nmea in: $SNTTA,0.136865,,,,185936.04*4B

2021-08-14T18:59:35.416Z,1628967575.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.979980 m, bearing: 9.634114 deg, deltaT: 4.491925 s, approachRate: 0.000000 m/s, LOS rate: 0.393850 deg/s, posRepo size: 4
2021-08-14T18:59:37.846Z,1628967577.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:38.197Z,1628967578.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:38.197Z,1628967578.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:38.197Z,1628967578.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:38.198Z,1628967578.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:38.601Z,1628967578.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,00F76,189,80,80,6B,FF
2021-08-14T18:59:38.602Z,1628967578.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:38.602Z,1628967578.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:38.603Z,1628967578.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:39.008Z,1628967579.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:39.025Z,1628967579.025 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:59:39.836Z,1628967579.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00FC8,18A,80,80,7B,FF
2021-08-14T18:59:39.837Z,1628967579.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:39.839Z,1628967579.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185940.54*5E

2021-08-14T18:59:40.268Z,1628967580.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.899979 m, bearing: 9.023345 deg, deltaT: 4.844278 s, approachRate: 1.015631 m/s, LOS rate: -0.126081 deg/s, posRepo size: 4
2021-08-14T18:59:42.651Z,1628967582.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:43.037Z,1628967583.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:43.037Z,1628967583.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:43.037Z,1628967583.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:43.038Z,1628967583.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:43.449Z,1628967583.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00FC8,18A,80,80,7B,FF
2021-08-14T18:59:43.450Z,1628967583.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:43.450Z,1628967583.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:43.451Z,1628967583.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:43.848Z,1628967583.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:43.878Z,1628967583.878 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T18:59:44.677Z,1628967584.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00FF3,189,80,80,79,FF
2021-08-14T18:59:44.677Z,1628967584.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:44.681Z,1628967584.681 [Micromodem](INFO): Nmea in: $SNTTA,0.227256,,,,185945.39*48

2021-08-14T18:59:45.105Z,1628967585.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.479996 m, bearing: 7.355403 deg, deltaT: 4.850504 s, approachRate: 0.531907 m/s, LOS rate: -0.343870 deg/s, posRepo size: 4
2021-08-14T18:59:47.516Z,1628967587.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:47.885Z,1628967587.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:47.885Z,1628967587.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:47.885Z,1628967587.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:47.886Z,1628967587.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:48.289Z,1628967588.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00FF3,189,80,80,79,FF
2021-08-14T18:59:48.289Z,1628967588.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:48.290Z,1628967588.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:48.291Z,1628967588.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:48.705Z,1628967588.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:48.770Z,1628967588.770 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:59:49.529Z,1628967589.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,0101B,189,80,80,76,FF
2021-08-14T18:59:49.530Z,1628967589.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:49.533Z,1628967589.533 [Micromodem](INFO): Nmea in: $SNTTA,0.142210,,,,185950.23*45

2021-08-14T18:59:49.955Z,1628967589.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.879990 m, bearing: 6.575222 deg, deltaT: 4.832402 s, approachRate: 0.496646 m/s, LOS rate: -0.161448 deg/s, posRepo size: 4
2021-08-14T18:59:52.388Z,1628967592.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:52.752Z,1628967592.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:52.753Z,1628967592.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:52.753Z,1628967592.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:52.755Z,1628967592.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:53.137Z,1628967593.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,0101B,189,80,80,76,FF
2021-08-14T18:59:53.137Z,1628967593.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:53.137Z,1628967593.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:53.139Z,1628967593.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:53.557Z,1628967593.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:53.963Z,1628967593.963 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:59:54.349Z,1628967594.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,01043,18A,80,80,6D,FF
2021-08-14T18:59:54.349Z,1628967594.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:54.353Z,1628967594.353 [Micromodem](INFO): Nmea in: $SNTTA,0.340390,0.340640,,,185955.08*5B

2021-08-14T18:59:54.807Z,1628967594.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.279984 m, bearing: 8.019283 deg, deltaT: 4.885016 s, approachRate: 0.491297 m/s, LOS rate: 0.295610 deg/s, posRepo size: 4
2021-08-14T18:59:57.204Z,1628967597.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T18:59:57.593Z,1628967597.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T18:59:57.593Z,1628967597.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T18:59:57.593Z,1628967597.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T18:59:57.594Z,1628967597.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T18:59:58.001Z,1628967598.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,01043,18A,80,80,6D,FF
2021-08-14T18:59:58.001Z,1628967598.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T18:59:58.002Z,1628967598.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T18:59:58.008Z,1628967598.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T18:59:58.405Z,1628967598.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T18:59:58.840Z,1628967598.840 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T18:59:59.203Z,1628967599.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,0106D,189,80,80,72,FF
2021-08-14T18:59:59.204Z,1628967599.204 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T18:59:59.211Z,1628967599.211 [Micromodem](INFO): Nmea in: $SNTTA,0.145026,,,,185959.95*41

2021-08-14T18:59:59.636Z,1628967599.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.799988 m, bearing: 4.872363 deg, deltaT: 4.821849 s, approachRate: 0.522622 m/s, LOS rate: -0.652638 deg/s, posRepo size: 4
2021-08-14T19:00:02.110Z,1628967602.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:02.429Z,1628967602.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:02.429Z,1628967602.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:02.429Z,1628967602.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:02.430Z,1628967602.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:02.841Z,1628967602.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,0106D,189,80,80,72,FF
2021-08-14T19:00:02.841Z,1628967602.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:02.841Z,1628967602.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:02.843Z,1628967602.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:03.241Z,1628967603.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:04.093Z,1628967604.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,01096,189,80,80,79,FF
2021-08-14T19:00:04.093Z,1628967604.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:04.097Z,1628967604.097 [Micromodem](INFO): Nmea in: $SNTTA,0.147195,,,,190004.78*4C

2021-08-14T19:00:04.485Z,1628967604.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.259979 m, bearing: 6.124585 deg, deltaT: 4.942331 s, approachRate: 0.497739 m/s, LOS rate: 0.253367 deg/s, posRepo size: 4
2021-08-14T19:00:06.920Z,1628967606.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:07.277Z,1628967607.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:07.277Z,1628967607.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:07.277Z,1628967607.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:07.278Z,1628967607.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:07.681Z,1628967607.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,01096,189,80,80,79,FF
2021-08-14T19:00:07.681Z,1628967607.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:07.681Z,1628967607.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:07.683Z,1628967607.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:08.117Z,1628967608.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:08.913Z,1628967608.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27D,000,010BF,18A,80,80,63,FF
2021-08-14T19:00:08.914Z,1628967608.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:08.917Z,1628967608.917 [Micromodem](INFO): Nmea in: $SNTTA,,0.109786,,,190009.63*45

2021-08-14T19:00:09.336Z,1628967609.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.719986 m, bearing: 10.145097 deg, deltaT: 4.778028 s, approachRate: 0.514858 m/s, LOS rate: 0.841458 deg/s, posRepo size: 4
2021-08-14T19:00:11.782Z,1628967611.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:12.133Z,1628967612.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:12.133Z,1628967612.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:12.133Z,1628967612.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:12.134Z,1628967612.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:12.545Z,1628967612.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27D,000,010BF,18A,80,80,63,FF
2021-08-14T19:00:12.545Z,1628967612.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:12.545Z,1628967612.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:12.547Z,1628967612.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:12.940Z,1628967612.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:13.787Z,1628967613.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,276,000,010EB,18A,80,80,6D,FF
2021-08-14T19:00:13.796Z,1628967613.796 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:13.799Z,1628967613.799 [Micromodem](INFO): Nmea in: $SNTTA,0.149955,,,,190014.49*45

2021-08-14T19:00:14.204Z,1628967614.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.360001 m, bearing: 10.242422 deg, deltaT: 4.897778 s, approachRate: 0.539023 m/s, LOS rate: 0.019871 deg/s, posRepo size: 4
2021-08-14T19:00:16.599Z,1628967616.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:16.978Z,1628967616.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:16.978Z,1628967616.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:16.978Z,1628967616.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:16.979Z,1628967616.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:17.389Z,1628967617.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
276,000,010EB,18A,80,80,6D,FF
2021-08-14T19:00:17.389Z,1628967617.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:17.389Z,1628967617.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:17.391Z,1628967617.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:17.804Z,1628967617.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:18.613Z,1628967618.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,01115,189,80,80,72,FF
2021-08-14T19:00:18.613Z,1628967618.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:18.616Z,1628967618.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190019.33*5E

2021-08-14T19:00:19.047Z,1628967619.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.879974 m, bearing: 6.198048 deg, deltaT: 4.758168 s, approachRate: 0.529610 m/s, LOS rate: -0.849985 deg/s, posRepo size: 4
2021-08-14T19:00:21.459Z,1628967621.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:21.821Z,1628967621.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:21.821Z,1628967621.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:21.821Z,1628967621.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:21.822Z,1628967621.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:22.238Z,1628967622.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,01115,189,80,80,72,FF
2021-08-14T19:00:22.238Z,1628967622.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:22.238Z,1628967622.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:22.241Z,1628967622.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:22.632Z,1628967622.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:23.450Z,1628967623.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28C,000,0113E,189,80,80,71,FF
2021-08-14T19:00:23.451Z,1628967623.451 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:23.454Z,1628967623.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190024.18*59

2021-08-14T19:00:23.913Z,1628967623.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.339996 m, bearing: 8.951777 deg, deltaT: 4.838540 s, approachRate: 0.508422 m/s, LOS rate: 0.569124 deg/s, posRepo size: 4
2021-08-14T19:00:26.334Z,1628967626.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:26.681Z,1628967626.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:26.682Z,1628967626.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:26.682Z,1628967626.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:26.683Z,1628967626.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:27.078Z,1628967627.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28C,000,0113E,189,80,80,71,FF
2021-08-14T19:00:27.078Z,1628967627.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:27.078Z,1628967627.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:27.081Z,1628967627.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:27.495Z,1628967627.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:28.313Z,1628967628.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,01169,18A,80,80,6F,FF
2021-08-14T19:00:28.313Z,1628967628.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:28.316Z,1628967628.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190029.02*5F

2021-08-14T19:00:28.767Z,1628967628.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.919983 m, bearing: 10.919872 deg, deltaT: 4.914239 s, approachRate: 0.525002 m/s, LOS rate: 0.400488 deg/s, posRepo size: 4
2021-08-14T19:00:31.166Z,1628967631.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:31.525Z,1628967631.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:31.525Z,1628967631.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:31.525Z,1628967631.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:31.526Z,1628967631.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:31.929Z,1628967631.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,01169,18A,80,80,6F,FF
2021-08-14T19:00:31.929Z,1628967631.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:31.929Z,1628967631.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:31.931Z,1628967631.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:32.341Z,1628967632.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:33.169Z,1628967633.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,01196,189,80,80,70,FF
2021-08-14T19:00:33.169Z,1628967633.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:33.172Z,1628967633.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190033.87*59

2021-08-14T19:00:33.613Z,1628967633.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.619980 m, bearing: 11.727110 deg, deltaT: 4.802829 s, approachRate: 0.562168 m/s, LOS rate: 0.168075 deg/s, posRepo size: 4
2021-08-14T19:00:36.080Z,1628967636.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:36.373Z,1628967636.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:36.373Z,1628967636.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:36.373Z,1628967636.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:36.374Z,1628967636.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:36.801Z,1628967636.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,01196,189,80,80,70,FF
2021-08-14T19:00:36.801Z,1628967636.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:36.801Z,1628967636.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:36.803Z,1628967636.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:37.180Z,1628967637.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:37.993Z,1628967637.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,011C5,189,80,80,76,FF
2021-08-14T19:00:37.995Z,1628967637.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:38.026Z,1628967638.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190038.74*5E

2021-08-14T19:00:38.445Z,1628967638.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.439987 m, bearing: 14.834766 deg, deltaT: 4.934916 s, approachRate: 0.571440 m/s, LOS rate: 0.629728 deg/s, posRepo size: 4
2021-08-14T19:00:40.854Z,1628967640.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:41.217Z,1628967641.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:41.217Z,1628967641.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:41.217Z,1628967641.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:41.218Z,1628967641.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:41.621Z,1628967641.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,011C5,189,80,80,76,FF
2021-08-14T19:00:41.621Z,1628967641.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:41.621Z,1628967641.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:41.623Z,1628967641.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:42.061Z,1628967642.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:42.853Z,1628967642.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,011F0,188,80,80,7B,FF
2021-08-14T19:00:42.853Z,1628967642.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:42.856Z,1628967642.856 [Micromodem](INFO): Nmea in: $SNTTA,0.160625,,,,190043.56*4A

2021-08-14T19:00:43.282Z,1628967643.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.019989 m, bearing: 15.849454 deg, deltaT: 4.813088 s, approachRate: 0.536039 m/s, LOS rate: 0.210818 deg/s, posRepo size: 4
2021-08-14T19:00:45.682Z,1628967645.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:46.101Z,1628967646.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:46.101Z,1628967646.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:46.102Z,1628967646.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:46.102Z,1628967646.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:46.473Z,1628967646.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,011F0,188,80,80,7B,FF
2021-08-14T19:00:46.473Z,1628967646.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:46.473Z,1628967646.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:46.475Z,1628967646.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:46.877Z,1628967646.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:47.713Z,1628967647.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,0121F,189,80,80,81,FF
2021-08-14T19:00:47.714Z,1628967647.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:47.717Z,1628967647.717 [Micromodem](INFO): Nmea in: $SNTTA,0.162415,,,,190048.42*47

2021-08-14T19:00:48.178Z,1628967648.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.839996 m, bearing: 13.293545 deg, deltaT: 4.848943 s, approachRate: 0.581572 m/s, LOS rate: -0.527106 deg/s, posRepo size: 4
2021-08-14T19:00:50.536Z,1628967650.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:50.921Z,1628967650.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:50.921Z,1628967650.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:50.921Z,1628967650.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:50.922Z,1628967650.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:51.317Z,1628967651.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,0121F,189,80,80,81,FF
2021-08-14T19:00:51.317Z,1628967651.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:51.317Z,1628967651.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:51.319Z,1628967651.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:51.740Z,1628967651.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:52.549Z,1628967652.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,0124F,189,80,80,76,FF
2021-08-14T19:00:52.549Z,1628967652.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:52.552Z,1628967652.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190053.26*54

2021-08-14T19:00:52.989Z,1628967652.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.720001 m, bearing: 12.879835 deg, deltaT: 4.784045 s, approachRate: 0.602002 m/s, LOS rate: -0.086477 deg/s, posRepo size: 4
2021-08-14T19:00:55.378Z,1628967655.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:00:55.781Z,1628967655.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:00:55.781Z,1628967655.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:00:55.781Z,1628967655.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:00:55.782Z,1628967655.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:00:56.165Z,1628967656.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,0124F,189,80,80,76,FF
2021-08-14T19:00:56.165Z,1628967656.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:00:56.165Z,1628967656.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:00:56.167Z,1628967656.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:00:56.572Z,1628967656.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:00:57.401Z,1628967657.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0127B,189,80,80,78,FF
2021-08-14T19:00:57.402Z,1628967657.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:00:57.404Z,1628967657.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190058.11*5B

2021-08-14T19:00:57.839Z,1628967657.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.359985 m, bearing: 11.359988 deg, deltaT: 4.852071 s, approachRate: 0.544094 m/s, LOS rate: -0.313237 deg/s, posRepo size: 4
2021-08-14T19:01:00.251Z,1628967660.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:00.605Z,1628967660.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:00.605Z,1628967660.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:00.605Z,1628967660.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:00.606Z,1628967660.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:01.011Z,1628967661.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,0127B,189,80,80,78,FF
2021-08-14T19:01:01.011Z,1628967661.011 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:01.011Z,1628967661.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:01.013Z,1628967661.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:01.429Z,1628967661.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:02.233Z,1628967662.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,012A5,189,80,80,72,FF
2021-08-14T19:01:02.233Z,1628967662.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:02.237Z,1628967662.237 [Micromodem](INFO): Nmea in: $SNTTA,0.404347,0.405591,,,190102.95*55

2021-08-14T19:01:02.659Z,1628967662.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.879990 m, bearing: 12.796590 deg, deltaT: 4.896438 s, approachRate: 0.514661 m/s, LOS rate: 0.293397 deg/s, posRepo size: 4
2021-08-14T19:01:05.099Z,1628967665.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:05.457Z,1628967665.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:05.457Z,1628967665.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:05.457Z,1628967665.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:05.458Z,1628967665.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:05.861Z,1628967665.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,012A5,189,80,80,72,FF
2021-08-14T19:01:05.861Z,1628967665.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:05.861Z,1628967665.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:05.863Z,1628967665.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:06.276Z,1628967666.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:07.101Z,1628967667.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,012D4,189,80,80,75,FF
2021-08-14T19:01:07.101Z,1628967667.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:07.105Z,1628967667.105 [Micromodem](INFO): Nmea in: $SNTTA,0.170551,,,,190107.81*40

2021-08-14T19:01:07.524Z,1628967667.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.699997 m, bearing: 11.589866 deg, deltaT: 4.842081 s, approachRate: 0.582396 m/s, LOS rate: -0.249216 deg/s, posRepo size: 4
2021-08-14T19:01:09.929Z,1628967669.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:10.321Z,1628967670.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:10.321Z,1628967670.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:10.321Z,1628967670.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:10.322Z,1628967670.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:10.713Z,1628967670.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,012D4,189,80,80,75,FF
2021-08-14T19:01:10.713Z,1628967670.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:10.713Z,1628967670.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:10.715Z,1628967670.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:11.120Z,1628967671.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:11.941Z,1628967671.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,012FF,188,80,80,6F,FF
2021-08-14T19:01:11.941Z,1628967671.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:11.945Z,1628967671.945 [Micromodem](INFO): Nmea in: $SNTTA,0.171256,,,,190112.66*4C

2021-08-14T19:01:12.395Z,1628967672.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.279984 m, bearing: 11.908874 deg, deltaT: 4.903127 s, approachRate: 0.526192 m/s, LOS rate: 0.065062 deg/s, posRepo size: 4
2021-08-14T19:01:14.826Z,1628967674.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:15.165Z,1628967675.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:15.165Z,1628967675.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:15.165Z,1628967675.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:15.166Z,1628967675.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:15.557Z,1628967675.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,012FF,188,80,80,6F,FF
2021-08-14T19:01:15.557Z,1628967675.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:15.557Z,1628967675.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:15.559Z,1628967675.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:15.971Z,1628967675.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:16.810Z,1628967676.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190117.50*54

2021-08-14T19:01:17.635Z,1628967677.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:19.194Z,1628967679.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,188,80,80,6F,FF
2021-08-14T19:01:19.194Z,1628967679.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,188,80,80,6F,FF
2021-08-14T19:01:19.194Z,1628967679.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:01:20.472Z,1628967680.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:20.813Z,1628967680.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:20.813Z,1628967680.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:20.814Z,1628967680.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:20.815Z,1628967680.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:21.213Z,1628967681.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,188,80,80,6F,FF
2021-08-14T19:01:21.213Z,1628967681.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:21.213Z,1628967681.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:21.215Z,1628967681.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:21.639Z,1628967681.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:22.162Z,1628967682.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,01363,18A,80,80,6F,FF
2021-08-14T19:01:22.163Z,1628967682.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:22.481Z,1628967682.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190123.16*51

2021-08-14T19:01:22.536Z,1628967682.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.279999 m, bearing: 9.611499 deg, deltaT: 10.200048 s, approachRate: 0.588234 m/s, LOS rate: -0.225232 deg/s, posRepo size: 4
2021-08-14T19:01:24.935Z,1628967684.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:25.269Z,1628967685.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:25.269Z,1628967685.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:25.269Z,1628967685.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:25.270Z,1628967685.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:25.686Z,1628967685.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,01363,18A,80,80,6F,FF
2021-08-14T19:01:25.687Z,1628967685.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:25.687Z,1628967685.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:25.690Z,1628967685.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:26.101Z,1628967686.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:26.901Z,1628967686.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,0138E,189,80,80,6E,FF
2021-08-14T19:01:26.901Z,1628967686.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:26.904Z,1628967686.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190127.63*57

2021-08-14T19:01:27.331Z,1628967687.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.859985 m, bearing: 11.813986 deg, deltaT: 4.668280 s, approachRate: 0.552663 m/s, LOS rate: 0.471798 deg/s, posRepo size: 4
2021-08-14T19:01:29.789Z,1628967689.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:30.113Z,1628967690.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:30.113Z,1628967690.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:30.113Z,1628967690.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:30.114Z,1628967690.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:30.525Z,1628967690.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,0138E,189,80,80,6E,FF
2021-08-14T19:01:30.525Z,1628967690.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:30.525Z,1628967690.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:30.527Z,1628967690.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:30.933Z,1628967690.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:31.769Z,1628967691.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,013BA,188,80,80,70,FF
2021-08-14T19:01:31.769Z,1628967691.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:31.772Z,1628967691.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190132.47*55

2021-08-14T19:01:32.201Z,1628967692.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.500000 m, bearing: 11.811751 deg, deltaT: 4.867879 s, approachRate: 0.542334 m/s, LOS rate: -0.000459 deg/s, posRepo size: 4
2021-08-14T19:01:32.201Z,1628967692.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 265.50 m. Resuming terminal guidance.
2021-08-14T19:01:32.202Z,1628967692.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T19:01:34.591Z,1628967694.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:34.957Z,1628967694.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:34.957Z,1628967694.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:34.957Z,1628967694.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:34.958Z,1628967694.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:35.365Z,1628967695.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,013BA,188,80,80,70,FF
2021-08-14T19:01:35.365Z,1628967695.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:35.365Z,1628967695.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:35.367Z,1628967695.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:35.808Z,1628967695.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:36.605Z,1628967696.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,013EA,189,80,80,7E,FF
2021-08-14T19:01:36.605Z,1628967696.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:36.608Z,1628967696.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190137.31*51

2021-08-14T19:01:37.026Z,1628967697.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.380005 m, bearing: 12.571381 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T19:01:37.026Z,1628967697.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 12.571381deg and heading rate command to 0 deg/s.
2021-08-14T19:01:39.447Z,1628967699.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:39.817Z,1628967699.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:39.817Z,1628967699.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:39.817Z,1628967699.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:39.818Z,1628967699.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:40.221Z,1628967700.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,013EA,189,80,80,7E,FF
2021-08-14T19:01:40.221Z,1628967700.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:40.221Z,1628967700.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:40.223Z,1628967700.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:40.620Z,1628967700.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:41.453Z,1628967701.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,01410,189,80,80,6E,FF
2021-08-14T19:01:41.453Z,1628967701.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:41.456Z,1628967701.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190142.16*56

2021-08-14T19:01:41.874Z,1628967701.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.660004 m, bearing: 4.435246 deg, deltaT: 4.812185 s, approachRate: 0.473797 m/s, LOS rate: -1.690736 deg/s, posRepo size: 2
2021-08-14T19:01:41.876Z,1628967701.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.660004 m,
      bearing: 4.435246 deg,
      approachRate: 0.473797 m/s,
      LOS rate: -1.690736 deg/s,
      cmd update: -6.762945 deg/s,
      cmd heading: 12.571381 deg,
      new cmd heading: 12.571381 deg.

2021-08-14T19:01:44.314Z,1628967704.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:44.657Z,1628967704.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:44.657Z,1628967704.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:44.657Z,1628967704.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:44.658Z,1628967704.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:45.061Z,1628967705.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,01410,189,80,80,6E,FF
2021-08-14T19:01:45.061Z,1628967705.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:45.061Z,1628967705.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:45.063Z,1628967705.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:45.468Z,1628967705.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:46.305Z,1628967706.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,0143E,189,80,80,7F,FF
2021-08-14T19:01:46.305Z,1628967706.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:46.308Z,1628967706.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190147.00*54

2021-08-14T19:01:46.711Z,1628967706.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.419983 m, bearing: 348.942289 deg, deltaT: 4.907602 s, approachRate: 0.562389 m/s, LOS rate: -3.156931 deg/s, posRepo size: 3
2021-08-14T19:01:46.713Z,1628967706.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.419983 m,
      bearing: 348.942289 deg,
      approachRate: 0.562389 m/s,
      LOS rate: -3.156931 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 339.379578 deg,
      new cmd heading: 337.160284 deg.

2021-08-14T19:01:49.149Z,1628967709.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:49.514Z,1628967709.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:49.514Z,1628967709.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:49.514Z,1628967709.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:49.515Z,1628967709.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:49.913Z,1628967709.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,0143E,189,80,80,7F,FF
2021-08-14T19:01:49.914Z,1628967709.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:49.914Z,1628967709.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:49.915Z,1628967709.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:50.325Z,1628967710.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:51.152Z,1628967711.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,0145E,189,80,80,AF,FF
2021-08-14T19:01:51.153Z,1628967711.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:51.156Z,1628967711.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190151.86*5D

2021-08-14T19:01:51.571Z,1628967711.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.339996 m, bearing: 315.716041 deg, deltaT: 4.791243 s, approachRate: 0.400734 m/s, LOS rate: -6.934787 deg/s, posRepo size: 4
2021-08-14T19:01:51.574Z,1628967711.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.339996 m,
      bearing: 315.716041 deg,
      approachRate: 0.400734 m/s,
      LOS rate: -6.934787 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.883161 deg,
      new cmd heading: 277.078745 deg.

2021-08-14T19:01:54.023Z,1628967714.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:54.354Z,1628967714.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:54.354Z,1628967714.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:54.354Z,1628967714.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:54.355Z,1628967714.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:54.773Z,1628967714.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,0145E,189,80,80,AF,FF
2021-08-14T19:01:54.773Z,1628967714.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:54.773Z,1628967714.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:54.775Z,1628967714.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:01:55.173Z,1628967715.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:01:55.984Z,1628967715.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,01472,185,80,80,AB,FF
2021-08-14T19:01:55.984Z,1628967715.984 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:01:55.987Z,1628967715.987 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190156.72*51

2021-08-14T19:01:56.451Z,1628967716.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.540009 m, bearing: 326.715351 deg, deltaT: 4.916793 s, approachRate: 0.244064 m/s, LOS rate: 2.237090 deg/s, posRepo size: 4
2021-08-14T19:01:56.454Z,1628967716.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.540009 m,
      bearing: 326.715351 deg,
      approachRate: 0.244064 m/s,
      LOS rate: 2.237090 deg/s,
      cmd update: 8.948361 deg/s,
      cmd heading: 222.930999 deg,
      new cmd heading: 218.520507 deg.

2021-08-14T19:01:58.874Z,1628967718.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:01:59.207Z,1628967719.207 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:01:59.207Z,1628967719.207 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:01:59.207Z,1628967719.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:01:59.208Z,1628967719.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:01:59.605Z,1628967719.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,01472,185,80,80,AB,FF
2021-08-14T19:01:59.605Z,1628967719.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:01:59.605Z,1628967719.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:01:59.607Z,1628967719.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:00.031Z,1628967720.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:00.849Z,1628967720.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01475,189,80,80,84,FF
2021-08-14T19:02:00.850Z,1628967720.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:00.853Z,1628967720.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190201.55*55

2021-08-14T19:02:01.267Z,1628967721.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.720001 m, bearing: 262.952830 deg, deltaT: 4.830651 s, approachRate: 0.037261 m/s, LOS rate: -13.199571 deg/s, posRepo size: 4
2021-08-14T19:02:01.268Z,1628967721.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.199571 deg/s. Setting heading cmd to target bearing of 262.952830deg and heading rate command to 0 deg/s.
2021-08-14T19:02:03.667Z,1628967723.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:04.093Z,1628967724.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:04.093Z,1628967724.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:04.093Z,1628967724.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:04.094Z,1628967724.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:04.449Z,1628967724.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01475,189,80,80,84,FF
2021-08-14T19:02:04.449Z,1628967724.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:04.450Z,1628967724.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:04.451Z,1628967724.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:04.869Z,1628967724.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:05.696Z,1628967725.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CD,000,0146C,189,80,80,95,FF
2021-08-14T19:02:05.697Z,1628967725.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:05.700Z,1628967725.700 [Micromodem](INFO): Nmea in: $SNTTA,0.186175,,,,190206.39*4A

2021-08-14T19:02:06.162Z,1628967726.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.179993 m, bearing: 245.948036 deg, deltaT: 4.802583 s, approachRate: -0.112441 m/s, LOS rate: -3.540760 deg/s, posRepo size: 4
2021-08-14T19:02:06.181Z,1628967726.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.179993 m,
      bearing: 245.948036 deg,
      approachRate: -0.112441 m/s,
      LOS rate: -3.540760 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 262.952830 deg,
      new cmd heading: 262.952830 deg.

2021-08-14T19:02:08.537Z,1628967728.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:08.936Z,1628967728.936 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:08.937Z,1628967728.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:08.937Z,1628967728.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:08.938Z,1628967728.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:09.309Z,1628967729.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CD,000,0146C,189,80,80,95,FF
2021-08-14T19:02:09.309Z,1628967729.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:09.309Z,1628967729.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:09.311Z,1628967729.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:09.716Z,1628967729.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:10.126Z,1628967730.126 [Micromodem](INFO): Nmea in: $SNTTA,0.295891,0.295823,,,190211.25*5A

2021-08-14T19:02:10.527Z,1628967730.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01456,189,80,80,B9,FF
2021-08-14T19:02:10.527Z,1628967730.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:10.962Z,1628967730.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.859985 m, bearing: 224.101676 deg, deltaT: 4.823990 s, approachRate: -0.273634 m/s, LOS rate: -4.528691 deg/s, posRepo size: 4
2021-08-14T19:02:10.964Z,1628967730.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.859985 m,
      bearing: 224.101676 deg,
      approachRate: -0.273634 m/s,
      LOS rate: -4.528691 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 205.052877 deg,
      new cmd heading: 200.051816 deg.

2021-08-14T19:02:13.382Z,1628967733.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:13.770Z,1628967733.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:13.770Z,1628967733.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:13.770Z,1628967733.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:13.770Z,1628967733.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:14.154Z,1628967734.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01456,189,80,80,B9,FF
2021-08-14T19:02:14.154Z,1628967734.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:14.154Z,1628967734.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:14.156Z,1628967734.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:14.567Z,1628967734.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:15.386Z,1628967735.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,444,000,01431,189,80,80,AB,FF
2021-08-14T19:02:15.386Z,1628967735.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:15.391Z,1628967735.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190216.10*52

2021-08-14T19:02:15.850Z,1628967735.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.639984 m, bearing: 214.470576 deg, deltaT: 4.894870 s, approachRate: -0.453536 m/s, LOS rate: -1.967591 deg/s, posRepo size: 4
2021-08-14T19:02:15.852Z,1628967735.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.639984 m,
      bearing: 214.470576 deg,
      approachRate: -0.453536 m/s,
      LOS rate: -1.967591 deg/s,
      cmd update: -7.870362 deg/s,
      cmd heading: 146.312575 deg,
      new cmd heading: 141.394123 deg.

2021-08-14T19:02:18.231Z,1628967738.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:18.594Z,1628967738.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:18.594Z,1628967738.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:18.594Z,1628967738.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:18.608Z,1628967738.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:18.997Z,1628967738.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
444,000,01431,189,80,80,AB,FF
2021-08-14T19:02:18.997Z,1628967738.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:18.997Z,1628967738.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:18.999Z,1628967738.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:19.418Z,1628967739.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:20.241Z,1628967740.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,01401,189,80,80,AA,FF
2021-08-14T19:02:20.242Z,1628967740.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:20.245Z,1628967740.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190220.94*5B

2021-08-14T19:02:20.664Z,1628967740.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.760010 m, bearing: 210.598050 deg, deltaT: 4.891824 s, approachRate: -0.588732 m/s, LOS rate: -0.791632 deg/s, posRepo size: 4
2021-08-14T19:02:20.666Z,1628967740.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.760010 m,
      bearing: 210.598050 deg,
      approachRate: -0.588732 m/s,
      LOS rate: -0.791632 deg/s,
      cmd update: -3.166529 deg/s,
      cmd heading: 107.844976 deg,
      new cmd heading: 105.357619 deg.

2021-08-14T19:02:23.081Z,1628967743.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:23.441Z,1628967743.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:23.441Z,1628967743.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:23.441Z,1628967743.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:23.442Z,1628967743.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:23.854Z,1628967743.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,01401,189,80,80,AA,FF
2021-08-14T19:02:23.854Z,1628967743.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:23.854Z,1628967743.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:23.856Z,1628967743.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:24.256Z,1628967744.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:25.081Z,1628967745.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,013C2,185,80,80,94,FF
2021-08-14T19:02:25.081Z,1628967745.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:25.085Z,1628967745.085 [Micromodem](INFO): Nmea in: $SNTTA,0.020971,,,,190225.80*48

2021-08-14T19:02:25.514Z,1628967745.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.979980 m, bearing: 213.167704 deg, deltaT: 4.837877 s, approachRate: -0.781341 m/s, LOS rate: 0.531153 deg/s, posRepo size: 4
2021-08-14T19:02:25.517Z,1628967745.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.979980 m,
      bearing: 213.167704 deg,
      approachRate: -0.781341 m/s,
      LOS rate: 0.531153 deg/s,
      cmd update: 2.124613 deg/s,
      cmd heading: 92.569848 deg,
      new cmd heading: 91.426984 deg.

2021-08-14T19:02:27.922Z,1628967747.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:28.289Z,1628967748.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:28.289Z,1628967748.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:28.289Z,1628967748.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:28.290Z,1628967748.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:28.697Z,1628967748.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,013C2,185,80,80,94,FF
2021-08-14T19:02:28.697Z,1628967748.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:28.697Z,1628967748.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:28.699Z,1628967748.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:29.108Z,1628967749.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:29.925Z,1628967749.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,01383,185,80,80,A2,FF
2021-08-14T19:02:29.926Z,1628967749.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:29.929Z,1628967749.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190230.64*55

2021-08-14T19:02:30.390Z,1628967750.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.199982 m, bearing: 212.006722 deg, deltaT: 4.890311 s, approachRate: -0.772957 m/s, LOS rate: -0.237405 deg/s, posRepo size: 4
2021-08-14T19:02:30.396Z,1628967750.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.199982 m,
      bearing: 212.006722 deg,
      approachRate: -0.772957 m/s,
      LOS rate: -0.237405 deg/s,
      cmd update: -0.949618 deg/s,
      cmd heading: 102.961792 deg,
      new cmd heading: 103.698709 deg.

2021-08-14T19:02:32.786Z,1628967752.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:33.145Z,1628967753.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:33.145Z,1628967753.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:33.146Z,1628967753.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:33.146Z,1628967753.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:33.557Z,1628967753.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,01383,185,80,80,A2,FF
2021-08-14T19:02:33.558Z,1628967753.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:33.558Z,1628967753.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:33.559Z,1628967753.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:33.960Z,1628967753.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:34.789Z,1628967754.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,01349,187,80,80,98,FF
2021-08-14T19:02:34.789Z,1628967754.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:34.793Z,1628967754.793 [Micromodem](INFO): Nmea in: $SNTTA,0.175001,,,,190235.50*4B

2021-08-14T19:02:35.196Z,1628967755.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.719971 m, bearing: 215.255584 deg, deltaT: 4.802782 s, approachRate: -0.724582 m/s, LOS rate: 0.676454 deg/s, posRepo size: 4
2021-08-14T19:02:35.198Z,1628967755.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.719971 m,
      bearing: 215.255584 deg,
      approachRate: -0.724582 m/s,
      LOS rate: 0.676454 deg/s,
      cmd update: 2.705816 deg/s,
      cmd heading: 98.388423 deg,
      new cmd heading: 98.068542 deg.

2021-08-14T19:02:37.598Z,1628967757.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:37.985Z,1628967757.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:37.985Z,1628967757.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:37.985Z,1628967757.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:37.986Z,1628967757.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:38.406Z,1628967758.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,01349,187,80,80,98,FF
2021-08-14T19:02:38.406Z,1628967758.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:38.406Z,1628967758.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:38.408Z,1628967758.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:38.809Z,1628967758.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:39.614Z,1628967759.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,01313,189,80,80,9C,FF
2021-08-14T19:02:39.614Z,1628967759.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:39.617Z,1628967759.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190240.35*56

2021-08-14T19:02:40.107Z,1628967760.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.479980 m, bearing: 219.854760 deg, deltaT: 4.770066 s, approachRate: -0.679234 m/s, LOS rate: 0.964175 deg/s, posRepo size: 4
2021-08-14T19:02:40.110Z,1628967760.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.479980 m,
      bearing: 219.854760 deg,
      approachRate: -0.679234 m/s,
      LOS rate: 0.964175 deg/s,
      cmd update: 3.856698 deg/s,
      cmd heading: 111.305741 deg,
      new cmd heading: 112.589997 deg.

2021-08-14T19:02:42.462Z,1628967762.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:42.837Z,1628967762.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:42.837Z,1628967762.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:42.837Z,1628967762.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:42.838Z,1628967762.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:43.237Z,1628967763.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,01313,189,80,80,9C,FF
2021-08-14T19:02:43.237Z,1628967763.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:43.237Z,1628967763.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:43.239Z,1628967763.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:43.654Z,1628967763.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:44.486Z,1628967764.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B28,000,012E5,189,80,80,B5,FF
2021-08-14T19:02:44.486Z,1628967764.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:44.491Z,1628967764.491 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190245.18*5C

2021-08-14T19:02:44.899Z,1628967764.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.719986 m, bearing: 212.996840 deg, deltaT: 4.923105 s, approachRate: -0.560621 m/s, LOS rate: -1.393007 deg/s, posRepo size: 4
2021-08-14T19:02:44.902Z,1628967764.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.719986 m,
      bearing: 212.996840 deg,
      approachRate: -0.560621 m/s,
      LOS rate: -1.393007 deg/s,
      cmd update: -5.572028 deg/s,
      cmd heading: 130.277342 deg,
      new cmd heading: 131.618080 deg.

2021-08-14T19:02:47.299Z,1628967767.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:47.681Z,1628967767.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:47.681Z,1628967767.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:47.681Z,1628967767.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:47.682Z,1628967767.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:48.101Z,1628967768.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B28,000,012E5,189,80,80,B5,FF
2021-08-14T19:02:48.101Z,1628967768.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:48.101Z,1628967768.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:48.103Z,1628967768.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:48.515Z,1628967768.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:49.305Z,1628967769.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,012D0,189,80,80,97,FF
2021-08-14T19:02:49.306Z,1628967769.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:49.309Z,1628967769.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190250.05*54

2021-08-14T19:02:49.781Z,1628967769.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.460007 m, bearing: 198.160112 deg, deltaT: 4.768360 s, approachRate: -0.264237 m/s, LOS rate: -3.111495 deg/s, posRepo size: 4
2021-08-14T19:02:49.783Z,1628967769.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.460007 m,
      bearing: 198.160112 deg,
      approachRate: -0.264237 m/s,
      LOS rate: -3.111495 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.684414 deg,
      new cmd heading: 101.165734 deg.

2021-08-14T19:02:52.193Z,1628967772.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:52.537Z,1628967772.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:52.537Z,1628967772.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:52.537Z,1628967772.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:52.538Z,1628967772.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:52.933Z,1628967772.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,012D0,189,80,80,97,FF
2021-08-14T19:02:52.933Z,1628967772.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:52.934Z,1628967772.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:52.935Z,1628967772.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:53.345Z,1628967773.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:54.166Z,1628967774.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,012C3,185,80,80,A9,FF
2021-08-14T19:02:54.166Z,1628967774.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:54.169Z,1628967774.169 [Micromodem](INFO): Nmea in: $SNTTA,0.483860,0.483866,,,190254.88*53

2021-08-14T19:02:54.600Z,1628967774.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.679993 m, bearing: 136.183986 deg, deltaT: 4.915684 s, approachRate: -0.158679 m/s, LOS rate: -12.607833 deg/s, posRepo size: 4
2021-08-14T19:02:54.601Z,1628967774.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.607833 deg/s. Setting heading cmd to target bearing of 136.183986deg and heading rate command to 0 deg/s.
2021-08-14T19:02:57.006Z,1628967777.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:02:57.377Z,1628967777.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:02:57.377Z,1628967777.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:02:57.377Z,1628967777.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:02:57.378Z,1628967777.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:02:57.805Z,1628967777.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,012C3,185,80,80,A9,FF
2021-08-14T19:02:57.805Z,1628967777.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:02:57.805Z,1628967777.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:02:57.807Z,1628967777.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:02:58.188Z,1628967778.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:02:59.004Z,1628967779.004 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6B,000,012C9,189,80,80,79,FF
2021-08-14T19:02:59.005Z,1628967779.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:02:59.010Z,1628967779.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190259.75*5A

2021-08-14T19:02:59.432Z,1628967779.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.039993 m, bearing: 144.743798 deg, deltaT: 4.825693 s, approachRate: 0.074601 m/s, LOS rate: 1.773799 deg/s, posRepo size: 4
2021-08-14T19:02:59.434Z,1628967779.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.039993 m,
      bearing: 144.743798 deg,
      approachRate: 0.074601 m/s,
      LOS rate: 1.773799 deg/s,
      cmd update: 7.095198 deg/s,
      cmd heading: 136.183986 deg,
      new cmd heading: 136.183986 deg.

2021-08-14T19:03:01.867Z,1628967781.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:02.225Z,1628967782.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:02.225Z,1628967782.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:02.225Z,1628967782.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:02.226Z,1628967782.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:02.645Z,1628967782.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6B,000,012C9,189,80,80,79,FF
2021-08-14T19:03:02.645Z,1628967782.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:02.645Z,1628967782.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:02.647Z,1628967782.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:03.036Z,1628967783.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:03.861Z,1628967783.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,012DA,186,80,80,8D,FF
2021-08-14T19:03:03.861Z,1628967783.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:03.864Z,1628967783.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190304.59*5D

2021-08-14T19:03:04.336Z,1628967784.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.059982 m, bearing: 64.821781 deg, deltaT: 4.824541 s, approachRate: 0.211417 m/s, LOS rate: -16.565724 deg/s, posRepo size: 4
2021-08-14T19:03:04.337Z,1628967784.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.565724 deg/s. Setting heading cmd to target bearing of 64.821781deg and heading rate command to 0 deg/s.
2021-08-14T19:03:06.714Z,1628967786.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:07.077Z,1628967787.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:07.078Z,1628967787.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:07.078Z,1628967787.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:07.079Z,1628967787.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:07.498Z,1628967787.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,012DA,186,80,80,8D,FF
2021-08-14T19:03:07.499Z,1628967787.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:07.499Z,1628967787.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:07.502Z,1628967787.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:07.884Z,1628967787.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:08.714Z,1628967788.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,012F3,186,80,80,B0,FF
2021-08-14T19:03:08.714Z,1628967788.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:08.717Z,1628967788.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190309.44*5C

2021-08-14T19:03:09.156Z,1628967789.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.559998 m, bearing: 109.623163 deg, deltaT: 4.885237 s, approachRate: 0.307051 m/s, LOS rate: 9.170769 deg/s, posRepo size: 4
2021-08-14T19:03:09.158Z,1628967789.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.559998 m,
      bearing: 109.623163 deg,
      approachRate: 0.307051 m/s,
      LOS rate: 9.170769 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 64.821781 deg,
      new cmd heading: 64.821781 deg.

2021-08-14T19:03:11.561Z,1628967791.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:11.929Z,1628967791.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:11.929Z,1628967791.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:11.929Z,1628967791.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:11.930Z,1628967791.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:12.331Z,1628967792.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,012F3,186,80,80,B0,FF
2021-08-14T19:03:12.331Z,1628967792.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:12.331Z,1628967792.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:12.334Z,1628967792.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:12.752Z,1628967792.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:13.569Z,1628967793.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC0,000,012FD,189,80,80,A9,FF
2021-08-14T19:03:13.570Z,1628967793.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:13.573Z,1628967793.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190314.28*5A

2021-08-14T19:03:14.075Z,1628967794.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.160004 m, bearing: 152.360538 deg, deltaT: 4.837252 s, approachRate: 0.124039 m/s, LOS rate: 8.835052 deg/s, posRepo size: 4
2021-08-14T19:03:14.077Z,1628967794.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.160004 m,
      bearing: 152.360538 deg,
      approachRate: 0.124039 m/s,
      LOS rate: 8.835052 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 122.622782 deg,
      new cmd heading: 128.464022 deg.

2021-08-14T19:03:16.445Z,1628967796.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:16.801Z,1628967796.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:16.801Z,1628967796.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:16.801Z,1628967796.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:16.802Z,1628967796.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:17.173Z,1628967797.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC0,000,012FD,189,80,80,A9,FF
2021-08-14T19:03:17.173Z,1628967797.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:17.173Z,1628967797.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:17.175Z,1628967797.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:17.580Z,1628967797.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:18.409Z,1628967798.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,01308,187,80,80,A3,FF
2021-08-14T19:03:18.409Z,1628967798.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:18.412Z,1628967798.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190319.12*5E

2021-08-14T19:03:18.875Z,1628967798.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.819977 m, bearing: 120.868120 deg, deltaT: 4.886894 s, approachRate: 0.135050 m/s, LOS rate: -6.444260 deg/s, posRepo size: 4
2021-08-14T19:03:18.878Z,1628967798.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.819977 m,
      bearing: 120.868120 deg,
      approachRate: 0.135050 m/s,
      LOS rate: -6.444260 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.420204 deg,
      new cmd heading: 186.050116 deg.

2021-08-14T19:03:21.235Z,1628967801.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:21.617Z,1628967801.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:21.617Z,1628967801.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:21.617Z,1628967801.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:21.618Z,1628967801.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:22.056Z,1628967802.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,01308,187,80,80,A3,FF
2021-08-14T19:03:22.056Z,1628967802.056 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:22.056Z,1628967802.056 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:22.058Z,1628967802.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:22.428Z,1628967802.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:23.235Z,1628967803.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,0131C,186,80,80,9E,FF
2021-08-14T19:03:23.237Z,1628967803.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:23.243Z,1628967803.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190324.00*53

2021-08-14T19:03:23.659Z,1628967803.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.019989 m, bearing: 122.852673 deg, deltaT: 4.800232 s, approachRate: 0.249990 m/s, LOS rate: 0.413428 deg/s, posRepo size: 4
2021-08-14T19:03:23.662Z,1628967803.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.019989 m,
      bearing: 122.852673 deg,
      approachRate: 0.249990 m/s,
      LOS rate: 0.413428 deg/s,
      cmd update: 1.653714 deg/s,
      cmd heading: 123.724766 deg,
      new cmd heading: 119.361998 deg.

2021-08-14T19:03:26.183Z,1628967806.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:26.465Z,1628967806.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:26.465Z,1628967806.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:26.465Z,1628967806.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:26.466Z,1628967806.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:26.873Z,1628967806.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,0131C,186,80,80,9E,FF
2021-08-14T19:03:26.873Z,1628967806.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:26.874Z,1628967806.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:26.875Z,1628967806.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:27.280Z,1628967807.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:27.683Z,1628967807.683 [Micromodem](INFO): Nmea in: $SNTTA,0.172804,0.170174,,,190328.82*59

2021-08-14T19:03:28.097Z,1628967808.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,0131D,186,80,80,9D,FF
2021-08-14T19:03:28.098Z,1628967808.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:28.546Z,1628967808.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.079987 m, bearing: 102.109347 deg, deltaT: 4.885165 s, approachRate: 0.012282 m/s, LOS rate: -4.246187 deg/s, posRepo size: 4
2021-08-14T19:03:28.549Z,1628967808.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.079987 m,
      bearing: 102.109347 deg,
      approachRate: 0.012282 m/s,
      LOS rate: -4.246187 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.783269 deg,
      new cmd heading: 132.383038 deg.

2021-08-14T19:03:30.937Z,1628967810.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:31.321Z,1628967811.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:31.321Z,1628967811.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:31.321Z,1628967811.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:31.322Z,1628967811.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:31.717Z,1628967811.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,0131D,186,80,80,9D,FF
2021-08-14T19:03:31.717Z,1628967811.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:31.717Z,1628967811.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:31.722Z,1628967811.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:32.163Z,1628967812.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:32.929Z,1628967812.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,01316,186,80,80,B4,FF
2021-08-14T19:03:32.930Z,1628967812.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:33.364Z,1628967813.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.659988 m, bearing: 160.038559 deg, deltaT: 4.804345 s, approachRate: -0.087420 m/s, LOS rate: 12.057671 deg/s, posRepo size: 4
2021-08-14T19:03:33.365Z,1628967813.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.057671 deg/s. Setting heading cmd to target bearing of 160.038559deg and heading rate command to 0 deg/s.
2021-08-14T19:03:35.809Z,1628967815.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:36.165Z,1628967816.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:36.165Z,1628967816.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:36.165Z,1628967816.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:36.166Z,1628967816.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:36.565Z,1628967816.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,01316,186,80,80,B4,FF
2021-08-14T19:03:36.565Z,1628967816.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:36.565Z,1628967816.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:36.567Z,1628967816.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:36.981Z,1628967816.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:37.817Z,1628967817.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,0130D,186,80,80,7F,FF
2021-08-14T19:03:37.818Z,1628967817.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:37.841Z,1628967817.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190338.51*5A

2021-08-14T19:03:38.229Z,1628967818.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.119980 m, bearing: 125.222093 deg, deltaT: 4.900955 s, approachRate: -0.110184 m/s, LOS rate: -7.104017 deg/s, posRepo size: 4
2021-08-14T19:03:38.231Z,1628967818.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.119980 m,
      bearing: 125.222093 deg,
      approachRate: -0.110184 m/s,
      LOS rate: -7.104017 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 160.038559 deg,
      new cmd heading: 160.038559 deg.

2021-08-14T19:03:40.630Z,1628967820.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:41.005Z,1628967821.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:41.005Z,1628967821.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:41.005Z,1628967821.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:41.006Z,1628967821.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:41.418Z,1628967821.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,0130D,186,80,80,7F,FF
2021-08-14T19:03:41.418Z,1628967821.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:41.418Z,1628967821.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:41.419Z,1628967821.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:41.821Z,1628967821.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:42.231Z,1628967822.231 [Micromodem](INFO): Nmea in: $SNTTA,0.240120,0.239677,,,190343.36*5C

2021-08-14T19:03:42.633Z,1628967822.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,01317,189,80,80,A0,FF
2021-08-14T19:03:42.633Z,1628967822.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:43.079Z,1628967823.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.720001 m, bearing: 138.890367 deg, deltaT: 4.803102 s, approachRate: 0.124924 m/s, LOS rate: 2.845718 deg/s, posRepo size: 4
2021-08-14T19:03:43.081Z,1628967823.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.720001 m,
      bearing: 138.890367 deg,
      approachRate: 0.124924 m/s,
      LOS rate: 2.845718 deg/s,
      cmd update: 11.382872 deg/s,
      cmd heading: 102.449321 deg,
      new cmd heading: 97.773257 deg.

2021-08-14T19:03:45.471Z,1628967825.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:45.853Z,1628967825.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:45.853Z,1628967825.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:45.853Z,1628967825.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:45.854Z,1628967825.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:46.258Z,1628967826.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,01317,189,80,80,A0,FF
2021-08-14T19:03:46.258Z,1628967826.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:46.258Z,1628967826.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:46.260Z,1628967826.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:46.674Z,1628967826.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:47.510Z,1628967827.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,01326,189,80,80,A1,FF
2021-08-14T19:03:47.511Z,1628967827.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:47.515Z,1628967827.515 [Micromodem](INFO): Nmea in: $SNTTA,0.173009,,,,190348.20*49

2021-08-14T19:03:47.926Z,1628967827.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.619995 m, bearing: 154.290572 deg, deltaT: 4.838378 s, approachRate: 0.186011 m/s, LOS rate: 3.182927 deg/s, posRepo size: 4
2021-08-14T19:03:47.929Z,1628967827.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.619995 m,
      bearing: 154.290572 deg,
      approachRate: 0.186011 m/s,
      LOS rate: 3.182927 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.566589 deg,
      new cmd heading: 162.058578 deg.

2021-08-14T19:03:50.363Z,1628967830.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:50.709Z,1628967830.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:50.709Z,1628967830.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:50.709Z,1628967830.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:50.710Z,1628967830.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:51.118Z,1628967831.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,01326,189,80,80,A1,FF
2021-08-14T19:03:51.118Z,1628967831.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:51.118Z,1628967831.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:51.120Z,1628967831.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:51.521Z,1628967831.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:52.345Z,1628967832.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,01324,189,80,80,A7,FF
2021-08-14T19:03:52.346Z,1628967832.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:52.349Z,1628967832.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190353.06*55

2021-08-14T19:03:52.807Z,1628967832.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.499969 m, bearing: 164.759599 deg, deltaT: 4.897477 s, approachRate: -0.024508 m/s, LOS rate: 2.137637 deg/s, posRepo size: 4
2021-08-14T19:03:52.813Z,1628967832.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.499969 m,
      bearing: 164.759599 deg,
      approachRate: -0.024508 m/s,
      LOS rate: 2.137637 deg/s,
      cmd update: 8.550547 deg/s,
      cmd heading: 216.240470 deg,
      new cmd heading: 220.867635 deg.

2021-08-14T19:03:55.171Z,1628967835.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:03:55.557Z,1628967835.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:03:55.557Z,1628967835.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:03:55.557Z,1628967835.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:03:55.558Z,1628967835.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:03:55.957Z,1628967835.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,01324,189,80,80,A7,FF
2021-08-14T19:03:55.957Z,1628967835.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:03:55.957Z,1628967835.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:03:55.959Z,1628967835.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:03:56.364Z,1628967836.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:03:57.193Z,1628967837.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C92,000,0131A,189,80,80,A8,FF
2021-08-14T19:03:57.194Z,1628967837.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:03:57.197Z,1628967837.197 [Micromodem](INFO): Nmea in: $SNTTA,0.173079,,,,190357.90*4B

2021-08-14T19:03:57.615Z,1628967837.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.899994 m, bearing: 196.321056 deg, deltaT: 4.782769 s, approachRate: -0.125445 m/s, LOS rate: 6.598992 deg/s, posRepo size: 4
2021-08-14T19:03:57.617Z,1628967837.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.899994 m,
      bearing: 196.321056 deg,
      approachRate: -0.125445 m/s,
      LOS rate: 6.598992 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 257.205860 deg,
      new cmd heading: 260.650808 deg.

2021-08-14T19:04:00.071Z,1628967840.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:00.417Z,1628967840.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:00.417Z,1628967840.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:00.418Z,1628967840.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:00.418Z,1628967840.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:00.817Z,1628967840.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C92,000,0131A,189,80,80,A8,FF
2021-08-14T19:04:00.817Z,1628967840.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:00.817Z,1628967840.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:00.819Z,1628967840.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:01.229Z,1628967841.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:02.065Z,1628967842.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B3B,000,012FA,189,80,80,B7,FF
2021-08-14T19:04:02.065Z,1628967842.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:02.069Z,1628967842.069 [Micromodem](INFO): Nmea in: $SNTTA,0.169034,,,,190402.76*46

2021-08-14T19:04:02.451Z,1628967842.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.979980 m, bearing: 233.445047 deg, deltaT: 4.926347 s, approachRate: -0.389744 m/s, LOS rate: 7.535805 deg/s, posRepo size: 4
2021-08-14T19:04:02.454Z,1628967842.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.979980 m,
      bearing: 233.445047 deg,
      approachRate: -0.389744 m/s,
      LOS rate: 7.535805 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 316.272874 deg,
      new cmd heading: 320.077546 deg.

2021-08-14T19:04:04.897Z,1628967844.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:05.258Z,1628967845.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:05.258Z,1628967845.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:05.258Z,1628967845.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:05.259Z,1628967845.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:05.663Z,1628967845.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B3B,000,012FA,189,80,80,B7,FF
2021-08-14T19:04:05.663Z,1628967845.663 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:05.664Z,1628967845.664 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:05.666Z,1628967845.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:06.105Z,1628967846.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:06.894Z,1628967846.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,012CF,189,80,80,92,FF
2021-08-14T19:04:06.895Z,1628967846.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:06.898Z,1628967846.898 [Micromodem](INFO): Nmea in: $SNTTA,0.170136,,,,190407.61*4E

2021-08-14T19:04:07.312Z,1628967847.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.399994 m, bearing: 227.336508 deg, deltaT: 4.785510 s, approachRate: -0.539125 m/s, LOS rate: -1.276466 deg/s, posRepo size: 4
2021-08-14T19:04:07.314Z,1628967847.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.399994 m,
      bearing: 227.336508 deg,
      approachRate: -0.539125 m/s,
      LOS rate: -1.276466 deg/s,
      cmd update: -5.105862 deg/s,
      cmd heading: 13.747536 deg,
      new cmd heading: 18.399984 deg.

2021-08-14T19:04:09.737Z,1628967849.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:10.102Z,1628967850.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:10.102Z,1628967850.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:10.102Z,1628967850.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:10.103Z,1628967850.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:10.510Z,1628967850.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,012CF,189,80,80,92,FF
2021-08-14T19:04:10.510Z,1628967850.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:10.511Z,1628967850.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:10.514Z,1628967850.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:10.911Z,1628967850.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:11.757Z,1628967851.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,01295,187,80,80,9F,FF
2021-08-14T19:04:11.759Z,1628967851.759 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:11.780Z,1628967851.780 [Micromodem](INFO): Nmea in: $SNTTA,0.167403,,,,190412.46*4A

2021-08-14T19:04:12.187Z,1628967852.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.919998 m, bearing: 232.637882 deg, deltaT: 4.917277 s, approachRate: -0.707708 m/s, LOS rate: 1.078112 deg/s, posRepo size: 4
2021-08-14T19:04:12.189Z,1628967852.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.919998 m,
      bearing: 232.637882 deg,
      approachRate: -0.707708 m/s,
      LOS rate: 1.078112 deg/s,
      cmd update: 4.312447 deg/s,
      cmd heading: 348.681898 deg,
      new cmd heading: 346.874352 deg.

2021-08-14T19:04:14.581Z,1628967854.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:14.949Z,1628967854.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:14.949Z,1628967854.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:14.949Z,1628967854.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:14.950Z,1628967854.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:15.349Z,1628967855.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,01295,187,80,80,9F,FF
2021-08-14T19:04:15.349Z,1628967855.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:15.349Z,1628967855.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:15.351Z,1628967855.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:15.791Z,1628967855.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:16.585Z,1628967856.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,01259,185,80,80,A4,FF
2021-08-14T19:04:16.585Z,1628967856.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:16.588Z,1628967856.588 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190417.29*5F

2021-08-14T19:04:17.021Z,1628967857.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.319977 m, bearing: 229.123354 deg, deltaT: 4.805674 s, approachRate: -0.749119 m/s, LOS rate: -0.731329 deg/s, posRepo size: 4
2021-08-14T19:04:17.023Z,1628967857.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.319977 m,
      bearing: 229.123354 deg,
      approachRate: -0.749119 m/s,
      LOS rate: -0.731329 deg/s,
      cmd update: -2.925316 deg/s,
      cmd heading: 9.391791 deg,
      new cmd heading: 11.051699 deg.

2021-08-14T19:04:19.413Z,1628967859.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:19.809Z,1628967859.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:19.809Z,1628967859.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:19.810Z,1628967859.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:19.810Z,1628967859.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:20.209Z,1628967860.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,01259,185,80,80,A4,FF
2021-08-14T19:04:20.209Z,1628967860.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:20.209Z,1628967860.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:20.211Z,1628967860.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:20.618Z,1628967860.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:21.429Z,1628967861.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E9,000,0121D,189,80,80,AE,FF
2021-08-14T19:04:21.429Z,1628967861.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:21.432Z,1628967861.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190422.15*56

2021-08-14T19:04:21.874Z,1628967861.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.719986 m, bearing: 222.249479 deg, deltaT: 4.848759 s, approachRate: -0.742456 m/s, LOS rate: -1.417657 deg/s, posRepo size: 4
2021-08-14T19:04:21.880Z,1628967861.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.719986 m,
      bearing: 222.249479 deg,
      approachRate: -0.742456 m/s,
      LOS rate: -1.417657 deg/s,
      cmd update: -5.670626 deg/s,
      cmd heading: 355.211808 deg,
      new cmd heading: 354.067147 deg.

2021-08-14T19:04:24.272Z,1628967864.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:24.649Z,1628967864.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:24.649Z,1628967864.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:24.649Z,1628967864.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:24.650Z,1628967864.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:25.069Z,1628967865.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E9,000,0121D,189,80,80,AE,FF
2021-08-14T19:04:25.069Z,1628967865.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:25.069Z,1628967865.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:25.071Z,1628967865.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:25.461Z,1628967865.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:26.263Z,1628967866.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011ED,18A,80,80,C1,FF
2021-08-14T19:04:26.264Z,1628967866.264 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:26.270Z,1628967866.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190427.01*56

2021-08-14T19:04:26.691Z,1628967866.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.839996 m, bearing: 220.098611 deg, deltaT: 4.854088 s, approachRate: -0.593312 m/s, LOS rate: -0.443104 deg/s, posRepo size: 4
2021-08-14T19:04:26.694Z,1628967866.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.839996 m,
      bearing: 220.098611 deg,
      approachRate: -0.593312 m/s,
      LOS rate: -0.443104 deg/s,
      cmd update: -1.772417 deg/s,
      cmd heading: 327.617753 deg,
      new cmd heading: 325.675438 deg.

2021-08-14T19:04:29.133Z,1628967869.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:29.490Z,1628967869.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:29.490Z,1628967869.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:29.490Z,1628967869.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:29.491Z,1628967869.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:29.909Z,1628967869.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011ED,18A,80,80,C1,FF
2021-08-14T19:04:29.909Z,1628967869.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:29.909Z,1628967869.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:29.911Z,1628967869.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:30.304Z,1628967870.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:31.122Z,1628967871.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,011C5,189,80,80,C0,FF
2021-08-14T19:04:31.123Z,1628967871.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:31.126Z,1628967871.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190431.85*5D

2021-08-14T19:04:31.556Z,1628967871.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.439987 m, bearing: 341.002631 deg, deltaT: 4.801400 s, approachRate: -0.499856 m/s, LOS rate: 25.180993 deg/s, posRepo size: 4
2021-08-14T19:04:31.557Z,1628967871.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.180993 deg/s. Setting heading cmd to target bearing of 341.002631deg and heading rate command to 0 deg/s.
2021-08-14T19:04:33.964Z,1628967873.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:34.333Z,1628967874.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:34.333Z,1628967874.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:34.333Z,1628967874.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:34.334Z,1628967874.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:34.752Z,1628967874.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,011C5,189,80,80,C0,FF
2021-08-14T19:04:34.753Z,1628967874.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:34.753Z,1628967874.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:34.759Z,1628967874.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:35.161Z,1628967875.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:35.984Z,1628967875.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011AE,189,80,80,AE,FF
2021-08-14T19:04:35.985Z,1628967875.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:35.994Z,1628967875.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190436.70*50

2021-08-14T19:04:36.436Z,1628967876.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.059998 m, bearing: 266.517998 deg, deltaT: 4.935831 s, approachRate: -0.279586 m/s, LOS rate: -15.090596 deg/s, posRepo size: 4
2021-08-14T19:04:36.437Z,1628967876.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.090596 deg/s. Setting heading cmd to target bearing of 266.517998deg and heading rate command to 0 deg/s.
2021-08-14T19:04:38.838Z,1628967878.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:39.193Z,1628967879.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:39.193Z,1628967879.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:39.193Z,1628967879.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:39.194Z,1628967879.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:39.598Z,1628967879.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011AE,189,80,80,AE,FF
2021-08-14T19:04:39.598Z,1628967879.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:39.598Z,1628967879.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:39.600Z,1628967879.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:40.007Z,1628967880.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:40.399Z,1628967880.399 [Micromodem](INFO): Nmea in: $SNTTA,0.149452,0.149077,,,190441.54*55

2021-08-14T19:04:40.809Z,1628967880.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D5,000,011AF,188,80,80,BC,FF
2021-08-14T19:04:40.809Z,1628967880.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:41.233Z,1628967881.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.119995 m, bearing: 299.269410 deg, deltaT: 4.751296 s, approachRate: 0.012628 m/s, LOS rate: 6.893154 deg/s, posRepo size: 4
2021-08-14T19:04:41.235Z,1628967881.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.119995 m,
      bearing: 299.269410 deg,
      approachRate: 0.012628 m/s,
      LOS rate: 6.893154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 266.517998 deg,
      new cmd heading: 266.517998 deg.

2021-08-14T19:04:43.647Z,1628967883.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:44.105Z,1628967884.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:44.105Z,1628967884.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:44.105Z,1628967884.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:44.106Z,1628967884.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:44.120Z,1628967884.120 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:04:44.437Z,1628967884.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D5,000,011AF,188,80,80,BC,FF
2021-08-14T19:04:44.437Z,1628967884.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:44.437Z,1628967884.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:44.439Z,1628967884.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:44.853Z,1628967884.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:45.681Z,1628967885.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011B3,189,80,80,6E,FF
2021-08-14T19:04:45.681Z,1628967885.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:45.684Z,1628967885.684 [Micromodem](INFO): Nmea in: $SNTTA,0.158194,,,,190446.39*44

2021-08-14T19:04:46.169Z,1628967886.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.360001 m, bearing: 271.712794 deg, deltaT: 4.873135 s, approachRate: 0.049251 m/s, LOS rate: -5.654803 deg/s, posRepo size: 4
2021-08-14T19:04:46.171Z,1628967886.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.360001 m,
      bearing: 271.712794 deg,
      approachRate: 0.049251 m/s,
      LOS rate: -5.654803 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 324.997695 deg,
      new cmd heading: 330.484887 deg.

2021-08-14T19:04:48.525Z,1628967888.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:48.893Z,1628967888.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:48.893Z,1628967888.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:48.893Z,1628967888.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:48.894Z,1628967888.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:49.285Z,1628967889.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011B3,189,80,80,6E,FF
2021-08-14T19:04:49.285Z,1628967889.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:49.286Z,1628967889.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:49.287Z,1628967889.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:49.696Z,1628967889.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:50.114Z,1628967890.114 [Micromodem](INFO): Nmea in: $SNTTA,0.157794,0.305154,,,190451.23*58

2021-08-14T19:04:51.322Z,1628967891.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:52.917Z,1628967892.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,6E,FF
2021-08-14T19:04:52.917Z,1628967892.917 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,6E,FF
2021-08-14T19:04:52.918Z,1628967892.918 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:04:54.144Z,1628967894.144 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:04:54.194Z,1628967894.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:54.545Z,1628967894.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:54.545Z,1628967894.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:54.546Z,1628967894.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:54.547Z,1628967894.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:54.945Z,1628967894.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,6E,FF
2021-08-14T19:04:54.945Z,1628967894.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:54.945Z,1628967894.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:54.947Z,1628967894.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:04:55.359Z,1628967895.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:04:56.185Z,1628967896.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0118F,189,80,80,A7,FF
2021-08-14T19:04:56.185Z,1628967896.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:04:56.188Z,1628967896.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190456.89*50

2021-08-14T19:04:56.616Z,1628967896.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.199997 m, bearing: 240.001646 deg, deltaT: 10.512792 s, approachRate: -0.205464 m/s, LOS rate: -3.016434 deg/s, posRepo size: 4
2021-08-14T19:04:56.618Z,1628967896.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.199997 m,
      bearing: 240.001646 deg,
      approachRate: -0.205464 m/s,
      LOS rate: -3.016434 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 198.847044 deg,
      new cmd heading: 194.147616 deg.

2021-08-14T19:04:59.068Z,1628967899.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:04:59.389Z,1628967899.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:04:59.389Z,1628967899.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:04:59.389Z,1628967899.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:04:59.390Z,1628967899.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:04:59.821Z,1628967899.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0118F,189,80,80,A7,FF
2021-08-14T19:04:59.821Z,1628967899.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:04:59.821Z,1628967899.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:04:59.823Z,1628967899.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:00.248Z,1628967900.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:01.069Z,1628967901.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0116E,189,80,80,64,FF
2021-08-14T19:05:01.069Z,1628967901.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:01.072Z,1628967901.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190501.77*52

2021-08-14T19:05:01.497Z,1628967901.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.219986 m, bearing: 219.128438 deg, deltaT: 4.874324 s, approachRate: -0.406212 m/s, LOS rate: -4.282278 deg/s, posRepo size: 4
2021-08-14T19:05:01.501Z,1628967901.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.219986 m,
      bearing: 219.128438 deg,
      approachRate: -0.406212 m/s,
      LOS rate: -4.282278 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 140.352815 deg,
      new cmd heading: 135.586535 deg.

2021-08-14T19:05:03.910Z,1628967903.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:04.277Z,1628967904.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:04.277Z,1628967904.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:04.278Z,1628967904.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:04.278Z,1628967904.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:04.302Z,1628967904.302 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T19:05:04.692Z,1628967904.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0116E,189,80,80,64,FF
2021-08-14T19:05:04.693Z,1628967904.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:04.693Z,1628967904.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:04.694Z,1628967904.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:05.084Z,1628967905.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:05.903Z,1628967905.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,01151,18A,80,80,3E,FF
2021-08-14T19:05:05.903Z,1628967905.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:05.906Z,1628967905.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190506.64*57

2021-08-14T19:05:06.353Z,1628967906.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.479996 m, bearing: 217.156999 deg, deltaT: 4.833643 s, approachRate: -0.359975 m/s, LOS rate: -0.407858 deg/s, posRepo size: 4
2021-08-14T19:05:06.355Z,1628967906.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.479996 m,
      bearing: 217.156999 deg,
      approachRate: -0.359975 m/s,
      LOS rate: -0.407858 deg/s,
      cmd update: -1.631431 deg/s,
      cmd heading: 82.351041 deg,
      new cmd heading: 77.303001 deg.

2021-08-14T19:05:08.782Z,1628967908.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:09.121Z,1628967909.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:09.121Z,1628967909.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:09.121Z,1628967909.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:09.122Z,1628967909.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:09.541Z,1628967909.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,01151,18A,80,80,3E,FF
2021-08-14T19:05:09.541Z,1628967909.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:09.541Z,1628967909.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:09.544Z,1628967909.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:09.932Z,1628967909.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:10.760Z,1628967910.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,01116,188,80,80,50,FF
2021-08-14T19:05:10.762Z,1628967910.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:10.774Z,1628967910.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190511.49*5E

2021-08-14T19:05:11.191Z,1628967911.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.939987 m, bearing: 215.123734 deg, deltaT: 4.901374 s, approachRate: -0.722248 m/s, LOS rate: -0.414836 deg/s, posRepo size: 4
2021-08-14T19:05:11.193Z,1628967911.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.939987 m,
      bearing: 215.123734 deg,
      approachRate: -0.722248 m/s,
      LOS rate: -0.414836 deg/s,
      cmd update: -1.659343 deg/s,
      cmd heading: 74.368217 deg,
      new cmd heading: 73.771064 deg.

2021-08-14T19:05:13.604Z,1628967913.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:13.981Z,1628967913.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:13.981Z,1628967913.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:13.981Z,1628967913.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:13.982Z,1628967913.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:14.369Z,1628967914.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,01116,188,80,80,50,FF
2021-08-14T19:05:14.370Z,1628967914.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:14.370Z,1628967914.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:14.371Z,1628967914.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:14.813Z,1628967914.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:15.609Z,1628967915.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,010DC,186,80,80,6B,FF
2021-08-14T19:05:15.609Z,1628967915.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:15.612Z,1628967915.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190516.32*55

2021-08-14T19:05:16.114Z,1628967916.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.459991 m, bearing: 215.274736 deg, deltaT: 4.795060 s, approachRate: -0.725746 m/s, LOS rate: 0.031491 deg/s, posRepo size: 4
2021-08-14T19:05:16.116Z,1628967916.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.459991 m,
      bearing: 215.274736 deg,
      approachRate: -0.725746 m/s,
      LOS rate: 0.031491 deg/s,
      cmd update: 0.125964 deg/s,
      cmd heading: 66.397846 deg,
      new cmd heading: 65.591901 deg.

2021-08-14T19:05:18.476Z,1628967918.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:18.833Z,1628967918.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:18.833Z,1628967918.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:18.833Z,1628967918.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:18.834Z,1628967918.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:19.246Z,1628967919.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,010DC,186,80,80,6B,FF
2021-08-14T19:05:19.246Z,1628967919.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:19.246Z,1628967919.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:19.247Z,1628967919.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:19.648Z,1628967919.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:20.102Z,1628967920.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,010DC,186,80,80,6B,FF
2021-08-14T19:05:20.103Z,1628967920.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:20.482Z,1628967920.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190521.19*58

2021-08-14T19:05:20.525Z,1628967920.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.459991 m, bearing: 221.760246 deg, deltaT: 4.574442 s, approachRate: 0.000000 m/s, LOS rate: 1.417771 deg/s, posRepo size: 4
2021-08-14T19:05:20.527Z,1628967920.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.459991 m,
      bearing: 221.760246 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.417771 deg/s,
      cmd update: 5.671083 deg/s,
      cmd heading: 66.972537 deg,
      new cmd heading: 67.014691 deg.

2021-08-14T19:05:22.917Z,1628967922.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:23.277Z,1628967923.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:23.277Z,1628967923.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:23.277Z,1628967923.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:23.278Z,1628967923.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:23.689Z,1628967923.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,010DC,186,80,80,6B,FF
2021-08-14T19:05:23.689Z,1628967923.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:23.689Z,1628967923.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:23.691Z,1628967923.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:24.146Z,1628967924.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:24.207Z,1628967924.207 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T19:05:24.920Z,1628967924.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,0106D,18A,80,80,5E,FF
2021-08-14T19:05:24.921Z,1628967924.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:24.924Z,1628967924.924 [Micromodem](INFO): Nmea in: $SNTTA,0.145711,,,,190525.64*4F

2021-08-14T19:05:25.349Z,1628967925.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.799988 m, bearing: 219.732650 deg, deltaT: 4.753864 s, approachRate: -1.400966 m/s, LOS rate: -0.426515 deg/s, posRepo size: 4
2021-08-14T19:05:25.351Z,1628967925.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.799988 m,
      bearing: 219.732650 deg,
      approachRate: -1.400966 m/s,
      LOS rate: -0.426515 deg/s,
      cmd update: -1.706062 deg/s,
      cmd heading: 93.988785 deg,
      new cmd heading: 96.221706 deg.

2021-08-14T19:05:27.792Z,1628967927.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:28.127Z,1628967928.127 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:28.127Z,1628967928.127 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:28.127Z,1628967928.127 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:28.128Z,1628967928.128 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:28.542Z,1628967928.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,0106D,18A,80,80,5E,FF
2021-08-14T19:05:28.542Z,1628967928.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:28.542Z,1628967928.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:28.544Z,1628967928.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:28.936Z,1628967928.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:29.771Z,1628967929.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01035,189,80,80,4F,FF
2021-08-14T19:05:29.771Z,1628967929.771 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:29.774Z,1628967929.774 [Micromodem](INFO): Nmea in: $SNTTA,0.142906,,,,190530.49*4B

2021-08-14T19:05:30.205Z,1628967930.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.439987 m, bearing: 225.483082 deg, deltaT: 4.863018 s, approachRate: -0.690929 m/s, LOS rate: 1.182482 deg/s, posRepo size: 4
2021-08-14T19:05:30.207Z,1628967930.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.439987 m,
      bearing: 225.483082 deg,
      approachRate: -0.690929 m/s,
      LOS rate: 1.182482 deg/s,
      cmd update: 4.729929 deg/s,
      cmd heading: 85.688414 deg,
      new cmd heading: 85.032299 deg.

2021-08-14T19:05:32.607Z,1628967932.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:32.977Z,1628967932.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:32.977Z,1628967932.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:32.978Z,1628967932.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:32.978Z,1628967932.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:33.377Z,1628967933.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01035,189,80,80,4F,FF
2021-08-14T19:05:33.377Z,1628967933.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:33.377Z,1628967933.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:33.379Z,1628967933.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:33.817Z,1628967933.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:34.187Z,1628967934.187 [Micromodem](INFO): Nmea in: $SNTTA,0.142182,0.259775,,,190535.32*53

2021-08-14T19:05:34.218Z,1628967934.218 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T19:05:35.419Z,1628967935.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:37.017Z,1628967937.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,4F,FF
2021-08-14T19:05:37.017Z,1628967937.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,4F,FF
2021-08-14T19:05:37.017Z,1628967937.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:05:38.267Z,1628967938.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:38.633Z,1628967938.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:38.633Z,1628967938.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:38.633Z,1628967938.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:38.634Z,1628967938.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:39.049Z,1628967939.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,4F,FF
2021-08-14T19:05:39.049Z,1628967939.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:39.051Z,1628967939.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:39.063Z,1628967939.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:39.444Z,1628967939.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:40.242Z,1628967940.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,01017,189,80,80,33,FF
2021-08-14T19:05:40.243Z,1628967940.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:40.250Z,1628967940.250 [Micromodem](INFO): Nmea in: $SNTTA,0.141627,,,,190541.01*4E

2021-08-14T19:05:40.680Z,1628967940.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.639984 m, bearing: 85.032379 deg, deltaT: 10.515440 s, approachRate: -0.171177 m/s, LOS rate: -13.356618 deg/s, posRepo size: 4
2021-08-14T19:05:40.681Z,1628967940.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.356618 deg/s. Setting heading cmd to target bearing of 85.032379deg and heading rate command to 0 deg/s.
2021-08-14T19:05:43.118Z,1628967943.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:43.477Z,1628967943.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:43.477Z,1628967943.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:43.478Z,1628967943.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:43.478Z,1628967943.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:43.889Z,1628967943.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,01017,189,80,80,33,FF
2021-08-14T19:05:43.889Z,1628967943.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:43.889Z,1628967943.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:43.891Z,1628967943.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:44.293Z,1628967944.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:45.113Z,1628967945.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,01013,186,80,80,5F,FF
2021-08-14T19:05:45.114Z,1628967945.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:45.116Z,1628967945.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190545.83*59

2021-08-14T19:05:45.532Z,1628967945.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.399994 m, bearing: 151.067433 deg, deltaT: 4.807140 s, approachRate: -0.049924 m/s, LOS rate: 13.736870 deg/s, posRepo size: 4
2021-08-14T19:05:45.533Z,1628967945.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.736870 deg/s. Setting heading cmd to target bearing of 151.067433deg and heading rate command to 0 deg/s.
2021-08-14T19:05:47.949Z,1628967947.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:48.333Z,1628967948.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:48.333Z,1628967948.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:48.334Z,1628967948.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:48.335Z,1628967948.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:48.733Z,1628967948.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,01013,186,80,80,5F,FF
2021-08-14T19:05:48.733Z,1628967948.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:48.734Z,1628967948.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:48.740Z,1628967948.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:49.148Z,1628967949.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:49.965Z,1628967949.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,01004,186,80,80,5E,FF
2021-08-14T19:05:49.965Z,1628967949.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:49.996Z,1628967949.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190550.69*59

2021-08-14T19:05:50.419Z,1628967950.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.500000 m, bearing: 133.375617 deg, deltaT: 4.955621 s, approachRate: -0.181611 m/s, LOS rate: -3.570050 deg/s, posRepo size: 4
2021-08-14T19:05:50.421Z,1628967950.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.500000 m,
      bearing: 133.375617 deg,
      approachRate: -0.181611 m/s,
      LOS rate: -3.570050 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 151.067433 deg,
      new cmd heading: 151.067433 deg.

2021-08-14T19:05:52.837Z,1628967952.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:53.173Z,1628967953.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:53.173Z,1628967953.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:53.173Z,1628967953.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:53.174Z,1628967953.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:53.578Z,1628967953.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,01004,186,80,80,5E,FF
2021-08-14T19:05:53.578Z,1628967953.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:53.578Z,1628967953.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:53.579Z,1628967953.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:54.002Z,1628967954.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:54.824Z,1628967954.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0E,000,0100A,189,80,80,7D,FF
2021-08-14T19:05:54.825Z,1628967954.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:54.828Z,1628967954.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190555.55*53

2021-08-14T19:05:55.235Z,1628967955.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.860001 m, bearing: 166.692720 deg, deltaT: 4.755664 s, approachRate: 0.075699 m/s, LOS rate: 7.005773 deg/s, posRepo size: 4
2021-08-14T19:05:55.254Z,1628967955.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.860001 m,
      bearing: 166.692720 deg,
      approachRate: 0.075699 m/s,
      LOS rate: 7.005773 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 93.881947 deg,
      new cmd heading: 89.303839 deg.

2021-08-14T19:05:57.667Z,1628967957.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:05:58.040Z,1628967958.040 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:05:58.040Z,1628967958.040 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:05:58.041Z,1628967958.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:05:58.043Z,1628967958.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:05:58.441Z,1628967958.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0E,000,0100A,189,80,80,7D,FF
2021-08-14T19:05:58.441Z,1628967958.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:05:58.442Z,1628967958.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:05:58.443Z,1628967958.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:05:58.833Z,1628967958.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:05:59.655Z,1628967959.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00F0F,186,80,80,8C,FF
2021-08-14T19:05:59.655Z,1628967959.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:05:59.658Z,1628967959.658 [Micromodem](INFO): Nmea in: $SNTTA,0.131174,,,,190600.39*45

2021-08-14T19:06:00.163Z,1628967960.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.799988 m, bearing: 104.266130 deg, deltaT: 4.820047 s, approachRate: -3.124454 m/s, LOS rate: -12.951448 deg/s, posRepo size: 4
2021-08-14T19:06:00.163Z,1628967960.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.951448 deg/s. Setting heading cmd to target bearing of 104.266130deg and heading rate command to 0 deg/s.
2021-08-14T19:06:02.521Z,1628967962.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:02.873Z,1628967962.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:02.873Z,1628967962.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:02.873Z,1628967962.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:02.874Z,1628967962.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:03.289Z,1628967963.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00F0F,186,80,80,8C,FF
2021-08-14T19:06:03.289Z,1628967963.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:03.289Z,1628967963.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:03.291Z,1628967963.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:03.685Z,1628967963.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:04.143Z,1628967964.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,00F0F,186,80,80,8C,FF
2021-08-14T19:06:04.143Z,1628967964.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:04.521Z,1628967964.521 [Micromodem](INFO): Nmea in: $SNTTA,0.263109,,,,190605.24*42

2021-08-14T19:06:04.562Z,1628967964.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.799988 m, bearing: 107.197012 deg, deltaT: 4.564007 s, approachRate: 0.000000 m/s, LOS rate: 0.642173 deg/s, posRepo size: 4
2021-08-14T19:06:04.564Z,1628967964.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.799988 m,
      bearing: 107.197012 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.642173 deg/s,
      cmd update: 2.568692 deg/s,
      cmd heading: 104.266130 deg,
      new cmd heading: 104.266130 deg.

2021-08-14T19:06:06.961Z,1628967966.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:07.341Z,1628967967.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:07.341Z,1628967967.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:07.341Z,1628967967.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:07.342Z,1628967967.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:07.728Z,1628967967.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,00F0F,186,80,80,8C,FF
2021-08-14T19:06:07.729Z,1628967967.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:07.729Z,1628967967.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:07.741Z,1628967967.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:08.162Z,1628967968.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:08.934Z,1628967968.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,0100B,186,80,80,97,FF
2021-08-14T19:06:08.935Z,1628967968.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:09.376Z,1628967969.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.919983 m, bearing: 141.924173 deg, deltaT: 4.761340 s, approachRate: 3.175575 m/s, LOS rate: 7.293569 deg/s, posRepo size: 4
2021-08-14T19:06:09.378Z,1628967969.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.919983 m,
      bearing: 141.924173 deg,
      approachRate: 3.175575 m/s,
      LOS rate: 7.293569 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.496155 deg,
      new cmd heading: 117.473966 deg.

2021-08-14T19:06:11.814Z,1628967971.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:12.162Z,1628967972.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:12.162Z,1628967972.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:12.163Z,1628967972.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:12.163Z,1628967972.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:12.573Z,1628967972.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,0100B,186,80,80,97,FF
2021-08-14T19:06:12.573Z,1628967972.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:12.573Z,1628967972.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:12.575Z,1628967972.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:12.972Z,1628967972.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:13.826Z,1628967973.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,0100A,18A,80,80,6D,FF
2021-08-14T19:06:13.826Z,1628967973.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:13.831Z,1628967973.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190614.52*52

2021-08-14T19:06:14.259Z,1628967974.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.860001 m, bearing: 155.422881 deg, deltaT: 4.859333 s, approachRate: -0.012344 m/s, LOS rate: 2.777893 deg/s, posRepo size: 4
2021-08-14T19:06:14.262Z,1628967974.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.860001 m,
      bearing: 155.422881 deg,
      approachRate: -0.012344 m/s,
      LOS rate: 2.777893 deg/s,
      cmd update: 11.111573 deg/s,
      cmd heading: 174.859237 deg,
      new cmd heading: 179.669197 deg.

2021-08-14T19:06:16.623Z,1628967976.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:17.013Z,1628967977.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:17.013Z,1628967977.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:17.014Z,1628967977.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:17.015Z,1628967977.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:17.429Z,1628967977.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,0100A,18A,80,80,6D,FF
2021-08-14T19:06:17.429Z,1628967977.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:17.429Z,1628967977.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:17.431Z,1628967977.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:17.820Z,1628967977.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:18.647Z,1628967978.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,0100C,188,80,80,9D,FF
2021-08-14T19:06:18.648Z,1628967978.648 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:18.652Z,1628967978.652 [Micromodem](INFO): Nmea in: $SNTTA,0.141399,,,,190619.38*4A

2021-08-14T19:06:19.090Z,1628967979.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.979996 m, bearing: 169.555362 deg, deltaT: 4.901222 s, approachRate: 0.024483 m/s, LOS rate: 2.883461 deg/s, posRepo size: 4
2021-08-14T19:06:19.096Z,1628967979.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.979996 m,
      bearing: 169.555362 deg,
      approachRate: 0.024483 m/s,
      LOS rate: 2.883461 deg/s,
      cmd update: 11.533842 deg/s,
      cmd heading: 229.121603 deg,
      new cmd heading: 232.830779 deg.

2021-08-14T19:06:21.471Z,1628967981.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:21.853Z,1628967981.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:21.853Z,1628967981.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:21.853Z,1628967981.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:21.854Z,1628967981.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:22.261Z,1628967982.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,0100C,188,80,80,9D,FF
2021-08-14T19:06:22.261Z,1628967982.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:22.261Z,1628967982.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:22.263Z,1628967982.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:22.669Z,1628967982.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:23.498Z,1628967983.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8D,000,00FF7,189,80,80,A7,FF
2021-08-14T19:06:23.498Z,1628967983.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:23.503Z,1628967983.503 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190624.21*55

2021-08-14T19:06:23.938Z,1628967983.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.719986 m, bearing: 203.826150 deg, deltaT: 4.822714 s, approachRate: -0.261266 m/s, LOS rate: 7.106121 deg/s, posRepo size: 4
2021-08-14T19:06:23.940Z,1628967983.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.719986 m,
      bearing: 203.826150 deg,
      approachRate: -0.261266 m/s,
      LOS rate: 7.106121 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 284.780675 deg,
      new cmd heading: 289.053329 deg.

2021-08-14T19:06:26.347Z,1628967986.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:26.713Z,1628967986.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:26.713Z,1628967986.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:26.713Z,1628967986.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:26.714Z,1628967986.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:27.114Z,1628967987.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8D,000,00FF7,189,80,80,A7,FF
2021-08-14T19:06:27.114Z,1628967987.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:27.114Z,1628967987.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:27.116Z,1628967987.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:27.524Z,1628967987.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:28.329Z,1628967988.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA3,000,00FD5,18A,80,80,A8,FF
2021-08-14T19:06:28.330Z,1628967988.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:28.333Z,1628967988.333 [Micromodem](INFO): Nmea in: $SNTTA,0.139259,0.389612,,,190629.06*5F

2021-08-14T19:06:28.813Z,1628967988.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.679993 m, bearing: 235.273926 deg, deltaT: 4.816864 s, approachRate: -0.423511 m/s, LOS rate: 6.528682 deg/s, posRepo size: 4
2021-08-14T19:06:28.815Z,1628967988.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.679993 m,
      bearing: 235.273926 deg,
      approachRate: -0.423511 m/s,
      LOS rate: 6.528682 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.445477 deg,
      new cmd heading: 347.720689 deg.

2021-08-14T19:06:31.167Z,1628967991.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:31.561Z,1628967991.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:31.561Z,1628967991.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:31.562Z,1628967991.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:31.563Z,1628967991.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:31.957Z,1628967991.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA3,000,00FD5,18A,80,80,A8,FF
2021-08-14T19:06:31.957Z,1628967991.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:31.957Z,1628967991.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:31.959Z,1628967991.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:32.372Z,1628967992.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:32.798Z,1628967992.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA3,000,00FD5,18A,80,80,A8,FF
2021-08-14T19:06:32.799Z,1628967992.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:33.205Z,1628967993.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190633.91*58

2021-08-14T19:06:33.228Z,1628967993.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.679993 m, bearing: 250.707148 deg, deltaT: 4.468325 s, approachRate: 0.000000 m/s, LOS rate: 3.453917 deg/s, posRepo size: 4
2021-08-14T19:06:33.230Z,1628967993.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.679993 m,
      bearing: 250.707148 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.453917 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 36.379814 deg,
      new cmd heading: 40.700210 deg.

2021-08-14T19:06:35.622Z,1628967995.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:36.005Z,1628967996.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:36.005Z,1628967996.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:36.006Z,1628967996.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:36.007Z,1628967996.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:36.409Z,1628967996.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA3,000,00FD5,18A,80,80,A8,FF
2021-08-14T19:06:36.409Z,1628967996.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:36.409Z,1628967996.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:36.411Z,1628967996.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:36.809Z,1628967996.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:37.645Z,1628967997.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00F72,186,80,80,72,FF
2021-08-14T19:06:37.645Z,1628967997.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:37.661Z,1628967997.661 [Micromodem](INFO): Nmea in: $SNTTA,0.144992,,,,190638.36*43

2021-08-14T19:06:38.111Z,1628967998.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.739990 m, bearing: 179.397978 deg, deltaT: 4.830865 s, approachRate: -1.229594 m/s, LOS rate: -14.761159 deg/s, posRepo size: 4
2021-08-14T19:06:38.112Z,1628967998.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.761159 deg/s. Setting heading cmd to target bearing of 179.397978deg and heading rate command to 0 deg/s.
2021-08-14T19:06:40.471Z,1628968000.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:40.853Z,1628968000.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:40.853Z,1628968000.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:40.854Z,1628968000.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:40.855Z,1628968000.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:41.249Z,1628968001.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,00F72,186,80,80,72,FF
2021-08-14T19:06:41.249Z,1628968001.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:41.249Z,1628968001.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:41.251Z,1628968001.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:41.664Z,1628968001.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:42.090Z,1628968002.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B43,000,00F72,186,80,80,72,FF
2021-08-14T19:06:42.090Z,1628968002.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:42.521Z,1628968002.521 [Micromodem](INFO): Nmea in: $SNTTA,,0.321794,,,190643.20*41

2021-08-14T19:06:42.555Z,1628968002.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.739990 m, bearing: 239.425233 deg, deltaT: 4.500854 s, approachRate: 0.000000 m/s, LOS rate: 13.336859 deg/s, posRepo size: 4
2021-08-14T19:06:42.556Z,1628968002.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.336859 deg/s. Setting heading cmd to target bearing of 239.425233deg and heading rate command to 0 deg/s.
2021-08-14T19:06:44.924Z,1628968004.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:45.289Z,1628968005.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:45.289Z,1628968005.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:45.289Z,1628968005.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:45.290Z,1628968005.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:45.697Z,1628968005.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B43,000,00F72,186,80,80,72,FF
2021-08-14T19:06:45.697Z,1628968005.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:45.697Z,1628968005.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:45.699Z,1628968005.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:46.109Z,1628968006.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:46.929Z,1628968006.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00F18,189,80,80,78,FF
2021-08-14T19:06:46.929Z,1628968006.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:46.957Z,1628968006.957 [Micromodem](INFO): Nmea in: $SNTTA,0.059207,,,,190647.64*46

2021-08-14T19:06:47.336Z,1628968007.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.339996 m, bearing: 228.026671 deg, deltaT: 4.796393 s, approachRate: -1.125845 m/s, LOS rate: -2.376486 deg/s, posRepo size: 4
2021-08-14T19:06:47.338Z,1628968007.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.339996 m,
      bearing: 228.026671 deg,
      approachRate: -1.125845 m/s,
      LOS rate: -2.376486 deg/s,
      cmd update: -9.505944 deg/s,
      cmd heading: 239.425233 deg,
      new cmd heading: 239.425233 deg.

2021-08-14T19:06:49.794Z,1628968009.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:50.141Z,1628968010.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:50.141Z,1628968010.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:50.142Z,1628968010.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:50.143Z,1628968010.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:50.549Z,1628968010.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00F18,189,80,80,78,FF
2021-08-14T19:06:50.550Z,1628968010.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:50.550Z,1628968010.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:50.551Z,1628968010.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:50.957Z,1628968010.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:51.793Z,1628968011.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00EFA,189,80,80,76,FF
2021-08-14T19:06:51.793Z,1628968011.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:51.796Z,1628968011.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190652.50*52

2021-08-14T19:06:52.221Z,1628968012.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.539978 m, bearing: 240.803018 deg, deltaT: 4.826696 s, approachRate: -0.372930 m/s, LOS rate: 2.647017 deg/s, posRepo size: 4
2021-08-14T19:06:52.223Z,1628968012.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.539978 m,
      bearing: 240.803018 deg,
      approachRate: -0.372930 m/s,
      LOS rate: 2.647017 deg/s,
      cmd update: 10.588069 deg/s,
      cmd heading: 193.424649 deg,
      new cmd heading: 189.643764 deg.

2021-08-14T19:06:54.599Z,1628968014.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:54.985Z,1628968014.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:54.985Z,1628968014.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:54.985Z,1628968014.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:54.986Z,1628968014.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:06:55.394Z,1628968015.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00EFA,189,80,80,76,FF
2021-08-14T19:06:55.394Z,1628968015.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:06:55.394Z,1628968015.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:06:55.396Z,1628968015.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:06:55.809Z,1628968015.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:06:56.629Z,1628968016.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF3,000,00ECC,18A,80,80,89,FF
2021-08-14T19:06:56.629Z,1628968016.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:06:56.632Z,1628968016.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190657.34*55

2021-08-14T19:06:57.052Z,1628968017.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.779984 m, bearing: 235.905500 deg, deltaT: 4.825395 s, approachRate: -0.571973 m/s, LOS rate: -1.014947 deg/s, posRepo size: 4
2021-08-14T19:06:57.054Z,1628968017.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.779984 m,
      bearing: 235.905500 deg,
      approachRate: -0.571973 m/s,
      LOS rate: -1.014947 deg/s,
      cmd update: -4.059787 deg/s,
      cmd heading: 244.515733 deg,
      new cmd heading: 248.793493 deg.

2021-08-14T19:06:59.447Z,1628968019.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:06:59.833Z,1628968019.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:06:59.833Z,1628968019.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:06:59.833Z,1628968019.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:06:59.834Z,1628968019.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:00.241Z,1628968020.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF3,000,00ECC,18A,80,80,89,FF
2021-08-14T19:07:00.241Z,1628968020.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:00.242Z,1628968020.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:00.243Z,1628968020.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:00.653Z,1628968020.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:01.473Z,1628968021.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,00E94,189,80,80,8C,FF
2021-08-14T19:07:01.473Z,1628968021.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:01.494Z,1628968021.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190702.19*5B

2021-08-14T19:07:01.898Z,1628968021.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 250.475468 deg, deltaT: 4.893803 s, approachRate: -0.686580 m/s, LOS rate: 2.977228 deg/s, posRepo size: 4
2021-08-14T19:07:01.900Z,1628968021.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 250.475468 deg,
      approachRate: -0.686580 m/s,
      LOS rate: 2.977228 deg/s,
      cmd update: 11.908913 deg/s,
      cmd heading: 224.685137 deg,
      new cmd heading: 223.201496 deg.

2021-08-14T19:07:04.322Z,1628968024.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:04.681Z,1628968024.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:04.681Z,1628968024.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:04.681Z,1628968024.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:04.682Z,1628968024.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:05.085Z,1628968025.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,00E94,189,80,80,8C,FF
2021-08-14T19:07:05.085Z,1628968025.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:05.085Z,1628968025.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:05.087Z,1628968025.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:05.495Z,1628968025.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:05.898Z,1628968025.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00E94,189,80,80,8C,FF
2021-08-14T19:07:05.898Z,1628968025.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:06.317Z,1628968026.317 [Micromodem](INFO): Nmea in: $SNTTA,0.123966,0.364062,,,190707.03*59

2021-08-14T19:07:06.369Z,1628968026.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 240.701057 deg, deltaT: 4.420653 s, approachRate: 0.000000 m/s, LOS rate: -2.211078 deg/s, posRepo size: 4
2021-08-14T19:07:06.371Z,1628968026.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 240.701057 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.211078 deg/s,
      cmd update: -8.844314 deg/s,
      cmd heading: 277.392127 deg,
      new cmd heading: 282.277330 deg.

2021-08-14T19:07:08.797Z,1628968028.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:09.131Z,1628968029.131 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:09.134Z,1628968029.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:09.137Z,1628968029.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:09.161Z,1628968029.161 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:09.541Z,1628968029.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,00E94,189,80,80,8C,FF
2021-08-14T19:07:09.542Z,1628968029.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:09.542Z,1628968029.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:09.543Z,1628968029.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:09.940Z,1628968029.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:10.350Z,1628968030.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00E94,189,80,80,8C,FF
2021-08-14T19:07:10.350Z,1628968030.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:10.785Z,1628968030.785 [Micromodem](INFO): Nmea in: $SNTTA,0.121621,,,,190711.49*45

2021-08-14T19:07:10.833Z,1628968030.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 234.321715 deg, deltaT: 4.460719 s, approachRate: 0.000000 m/s, LOS rate: -1.430115 deg/s, posRepo size: 4
2021-08-14T19:07:10.835Z,1628968030.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 234.321715 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.430115 deg/s,
      cmd update: -5.720461 deg/s,
      cmd heading: 237.907068 deg,
      new cmd heading: 234.285658 deg.

2021-08-14T19:07:13.191Z,1628968033.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:13.577Z,1628968033.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:13.577Z,1628968033.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:13.577Z,1628968033.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:13.577Z,1628968033.577 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:14.006Z,1628968034.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00E94,189,80,80,8C,FF
2021-08-14T19:07:14.006Z,1628968034.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:14.007Z,1628968034.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:14.022Z,1628968034.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:14.401Z,1628968034.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:15.183Z,1628968035.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,311,000,00DEA,188,80,80,AD,FF
2021-08-14T19:07:15.184Z,1628968035.184 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:15.633Z,1628968035.633 [Micromodem](INFO): Nmea in: $SNTTA,0.137035,,,,190715.97*46

2021-08-14T19:07:15.673Z,1628968035.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 231.748209 deg, deltaT: 4.829931 s, approachRate: -2.111831 m/s, LOS rate: -0.532825 deg/s, posRepo size: 4
2021-08-14T19:07:15.675Z,1628968035.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.220001 m,
      bearing: 231.748209 deg,
      approachRate: -2.111831 m/s,
      LOS rate: -0.532825 deg/s,
      cmd update: -2.131298 deg/s,
      cmd heading: 210.332457 deg,
      new cmd heading: 207.873775 deg.

2021-08-14T19:07:18.112Z,1628968038.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:18.421Z,1628968038.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:18.421Z,1628968038.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:18.421Z,1628968038.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:18.422Z,1628968038.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:18.819Z,1628968038.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
311,000,00DEA,188,80,80,AD,FF
2021-08-14T19:07:18.819Z,1628968038.819 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:18.820Z,1628968038.820 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:18.822Z,1628968038.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:19.233Z,1628968039.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:19.628Z,1628968039.628 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00DEA,188,80,80,AD,FF
2021-08-14T19:07:19.629Z,1628968039.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:20.093Z,1628968040.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190720.77*53

2021-08-14T19:07:20.159Z,1628968040.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 238.446412 deg, deltaT: 4.419208 s, approachRate: 0.000000 m/s, LOS rate: 1.515702 deg/s, posRepo size: 4
2021-08-14T19:07:20.161Z,1628968040.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.220001 m,
      bearing: 238.446412 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.515702 deg/s,
      cmd update: 6.062808 deg/s,
      cmd heading: 200.902508 deg,
      new cmd heading: 199.855608 deg.

2021-08-14T19:07:22.471Z,1628968042.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:22.865Z,1628968042.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:22.865Z,1628968042.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:22.866Z,1628968042.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:22.867Z,1628968042.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:23.270Z,1628968043.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00DEA,188,80,80,AD,FF
2021-08-14T19:07:23.270Z,1628968043.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:23.270Z,1628968043.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:23.272Z,1628968043.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:23.678Z,1628968043.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:24.105Z,1628968044.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00D6C,184,80,80,AC,FF
2021-08-14T19:07:24.106Z,1628968044.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:24.526Z,1628968044.526 [Micromodem](INFO): Nmea in: $SNTTA,,0.272799,,,190725.22*48

2021-08-14T19:07:24.568Z,1628968044.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.660004 m, bearing: 242.345275 deg, deltaT: 4.528124 s, approachRate: -1.669565 m/s, LOS rate: 0.861033 deg/s, posRepo size: 4
2021-08-14T19:07:24.570Z,1628968044.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.660004 m,
      bearing: 242.345275 deg,
      approachRate: -1.669565 m/s,
      LOS rate: 0.861033 deg/s,
      cmd update: 3.444131 deg/s,
      cmd heading: 228.383144 deg,
      new cmd heading: 230.611068 deg.

2021-08-14T19:07:26.971Z,1628968046.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:27.309Z,1628968047.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:27.309Z,1628968047.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:27.309Z,1628968047.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:27.310Z,1628968047.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:27.721Z,1628968047.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00D6C,184,80,80,AC,FF
2021-08-14T19:07:27.722Z,1628968047.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:27.722Z,1628968047.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:27.729Z,1628968047.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:28.120Z,1628968048.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:28.529Z,1628968048.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,00D6C,184,80,80,AC,FF
2021-08-14T19:07:28.530Z,1628968048.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:28.961Z,1628968048.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190729.68*54

2021-08-14T19:07:28.999Z,1628968048.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.660004 m, bearing: 239.959845 deg, deltaT: 4.385897 s, approachRate: 0.000000 m/s, LOS rate: -0.543886 deg/s, posRepo size: 4
2021-08-14T19:07:29.001Z,1628968049.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.660004 m,
      bearing: 239.959845 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.543886 deg/s,
      cmd update: -2.175546 deg/s,
      cmd heading: 243.368845 deg,
      new cmd heading: 244.909280 deg.

2021-08-14T19:07:31.371Z,1628968051.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:31.765Z,1628968051.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:31.765Z,1628968051.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:31.765Z,1628968051.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:31.766Z,1628968051.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:32.169Z,1628968052.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,00D6C,184,80,80,AC,FF
2021-08-14T19:07:32.169Z,1628968052.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:32.169Z,1628968052.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:32.171Z,1628968052.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:32.650Z,1628968052.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:33.041Z,1628968053.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00CF2,187,80,80,AF,FF
2021-08-14T19:07:33.041Z,1628968053.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:33.461Z,1628968053.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190734.12*55

2021-08-14T19:07:33.487Z,1628968053.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.339996 m, bearing: 239.200547 deg, deltaT: 4.536555 s, approachRate: -1.613561 m/s, LOS rate: -0.167373 deg/s, posRepo size: 4
2021-08-14T19:07:33.491Z,1628968053.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 239.200547 deg,
      approachRate: -1.613561 m/s,
      LOS rate: -0.167373 deg/s,
      cmd update: -0.669493 deg/s,
      cmd heading: 233.427876 deg,
      new cmd heading: 232.635631 deg.

2021-08-14T19:07:35.934Z,1628968055.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:36.281Z,1628968056.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:36.281Z,1628968056.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:36.281Z,1628968056.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:36.282Z,1628968056.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:36.681Z,1628968056.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00CF2,187,80,80,AF,FF
2021-08-14T19:07:36.681Z,1628968056.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:36.681Z,1628968056.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:36.683Z,1628968056.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:37.081Z,1628968057.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:37.482Z,1628968057.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00CB6,187,80,80,AF,FF
2021-08-14T19:07:37.483Z,1628968057.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:37.925Z,1628968057.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190738.63*5F

2021-08-14T19:07:37.975Z,1628968057.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.740005 m, bearing: 238.653913 deg, deltaT: 4.415912 s, approachRate: -0.815232 m/s, LOS rate: -0.123787 deg/s, posRepo size: 4
2021-08-14T19:07:37.977Z,1628968057.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.740005 m,
      bearing: 238.653913 deg,
      approachRate: -0.815232 m/s,
      LOS rate: -0.123787 deg/s,
      cmd update: -0.495149 deg/s,
      cmd heading: 230.490418 deg,
      new cmd heading: 230.179356 deg.

2021-08-14T19:07:40.361Z,1628968060.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:40.717Z,1628968060.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:40.717Z,1628968060.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:40.717Z,1628968060.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:40.718Z,1628968060.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:41.125Z,1628968061.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00CB6,187,80,80,AF,FF
2021-08-14T19:07:41.125Z,1628968061.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:41.126Z,1628968061.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:41.127Z,1628968061.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:41.533Z,1628968061.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:41.938Z,1628968061.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00C79,184,80,80,BF,FF
2021-08-14T19:07:41.938Z,1628968061.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:42.348Z,1628968062.348 [Micromodem](INFO): Nmea in: $SNTTA,0.105233,0.383331,,,190743.07*5E

2021-08-14T19:07:42.413Z,1628968062.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.080002 m, bearing: 238.933076 deg, deltaT: 4.514618 s, approachRate: -0.810701 m/s, LOS rate: 0.061835 deg/s, posRepo size: 4
2021-08-14T19:07:42.420Z,1628968062.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.080002 m,
      bearing: 238.933076 deg,
      approachRate: -0.810701 m/s,
      LOS rate: 0.061835 deg/s,
      cmd update: 0.247342 deg/s,
      cmd heading: 228.245238 deg,
      new cmd heading: 228.074191 deg.

2021-08-14T19:07:44.838Z,1628968064.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:45.162Z,1628968065.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:45.162Z,1628968065.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:45.162Z,1628968065.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:45.163Z,1628968065.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:45.573Z,1628968065.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00C79,184,80,80,BF,FF
2021-08-14T19:07:45.573Z,1628968065.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:45.573Z,1628968065.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:45.575Z,1628968065.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:46.037Z,1628968066.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:46.421Z,1628968066.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00C3C,184,80,80,B6,FF
2021-08-14T19:07:46.422Z,1628968066.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:46.841Z,1628968066.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190747.52*55

2021-08-14T19:07:46.879Z,1628968066.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.419998 m, bearing: 238.359423 deg, deltaT: 4.430487 s, approachRate: -0.826095 m/s, LOS rate: -0.129479 deg/s, posRepo size: 4
2021-08-14T19:07:46.881Z,1628968066.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 238.359423 deg,
      approachRate: -0.826095 m/s,
      LOS rate: -0.129479 deg/s,
      cmd update: -0.517915 deg/s,
      cmd heading: 229.340747 deg,
      new cmd heading: 229.441456 deg.

2021-08-14T19:07:49.272Z,1628968069.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:49.641Z,1628968069.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:49.641Z,1628968069.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:49.641Z,1628968069.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:49.642Z,1628968069.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:50.111Z,1628968070.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00C3C,184,80,80,B6,FF
2021-08-14T19:07:50.111Z,1628968070.111 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:50.111Z,1628968070.111 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:50.113Z,1628968070.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:50.473Z,1628968070.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:50.878Z,1628968070.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00C3C,184,80,80,B6,FF
2021-08-14T19:07:50.878Z,1628968070.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:51.291Z,1628968071.291 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190752.06*50

2021-08-14T19:07:51.338Z,1628968071.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.419998 m, bearing: 237.938000 deg, deltaT: 4.455289 s, approachRate: 0.000000 m/s, LOS rate: -0.094589 deg/s, posRepo size: 4
2021-08-14T19:07:51.340Z,1628968071.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 237.938000 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.094589 deg/s,
      cmd update: -0.378357 deg/s,
      cmd heading: 227.027350 deg,
      new cmd heading: 226.820638 deg.

2021-08-14T19:07:53.772Z,1628968073.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:54.105Z,1628968074.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:54.106Z,1628968074.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:54.106Z,1628968074.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:54.107Z,1628968074.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:54.506Z,1628968074.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00C3C,184,80,80,B6,FF
2021-08-14T19:07:54.506Z,1628968074.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:54.506Z,1628968074.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:54.509Z,1628968074.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:54.921Z,1628968074.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:55.321Z,1628968075.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00BBE,184,80,80,B1,FF
2021-08-14T19:07:55.322Z,1628968075.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:07:55.817Z,1628968075.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190756.46*50

2021-08-14T19:07:55.867Z,1628968075.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.860001 m, bearing: 238.773824 deg, deltaT: 4.399130 s, approachRate: -1.718521 m/s, LOS rate: 0.189998 deg/s, posRepo size: 4
2021-08-14T19:07:55.869Z,1628968075.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.860001 m,
      bearing: 238.773824 deg,
      approachRate: -1.718521 m/s,
      LOS rate: 0.189998 deg/s,
      cmd update: 0.759990 deg/s,
      cmd heading: 225.362726 deg,
      new cmd heading: 225.162766 deg.

2021-08-14T19:07:58.213Z,1628968078.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:07:58.553Z,1628968078.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:07:58.553Z,1628968078.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:07:58.554Z,1628968078.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:07:58.554Z,1628968078.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:07:58.957Z,1628968078.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00BBE,184,80,80,B1,FF
2021-08-14T19:07:58.957Z,1628968078.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:07:58.957Z,1628968078.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:07:58.959Z,1628968078.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:07:59.357Z,1628968079.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:07:59.801Z,1628968079.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00B7F,187,80,80,A6,FF
2021-08-14T19:07:59.801Z,1628968079.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:00.183Z,1628968080.183 [Micromodem](INFO): Nmea in: $SNTTA,0.135392,0.429263,,,190800.90*50

2021-08-14T19:08:00.220Z,1628968080.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.080002 m, bearing: 239.106591 deg, deltaT: 4.513895 s, approachRate: -0.837414 m/s, LOS rate: 0.073721 deg/s, posRepo size: 4
2021-08-14T19:08:00.222Z,1628968080.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.080002 m,
      bearing: 239.106591 deg,
      approachRate: -0.837414 m/s,
      LOS rate: 0.073721 deg/s,
      cmd update: 0.294882 deg/s,
      cmd heading: 228.793041 deg,
      new cmd heading: 229.072759 deg.

2021-08-14T19:08:02.603Z,1628968082.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:02.997Z,1628968082.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:02.997Z,1628968082.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:02.997Z,1628968082.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:02.998Z,1628968082.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:03.397Z,1628968083.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00B7F,187,80,80,A6,FF
2021-08-14T19:08:03.397Z,1628968083.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:03.397Z,1628968083.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:03.399Z,1628968083.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:03.817Z,1628968083.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:04.237Z,1628968084.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00B3E,184,80,80,99,FF
2021-08-14T19:08:04.237Z,1628968084.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:04.641Z,1628968084.641 [Micromodem](INFO): Nmea in: $SNTTA,0.208922,,,,190805.35*40

2021-08-14T19:08:04.665Z,1628968084.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.180008 m, bearing: 239.676037 deg, deltaT: 4.461410 s, approachRate: -0.874162 m/s, LOS rate: 0.127638 deg/s, posRepo size: 4
2021-08-14T19:08:04.667Z,1628968084.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.180008 m,
      bearing: 239.676037 deg,
      approachRate: -0.874162 m/s,
      LOS rate: 0.127638 deg/s,
      cmd update: 0.510553 deg/s,
      cmd heading: 230.104965 deg,
      new cmd heading: 230.212502 deg.

2021-08-14T19:08:07.065Z,1628968087.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:07.433Z,1628968087.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:07.433Z,1628968087.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:07.433Z,1628968087.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:07.434Z,1628968087.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:07.841Z,1628968087.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00B3E,184,80,80,99,FF
2021-08-14T19:08:07.841Z,1628968087.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:07.841Z,1628968087.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:07.843Z,1628968087.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:08.244Z,1628968088.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:08.646Z,1628968088.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00AFE,185,80,80,AC,FF
2021-08-14T19:08:08.646Z,1628968088.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:09.089Z,1628968089.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190809.79*59

2021-08-14T19:08:09.133Z,1628968089.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.339996 m, bearing: 241.379104 deg, deltaT: 4.354301 s, approachRate: -0.881889 m/s, LOS rate: 0.391123 deg/s, posRepo size: 4
2021-08-14T19:08:09.135Z,1628968089.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.339996 m,
      bearing: 241.379104 deg,
      approachRate: -0.881889 m/s,
      LOS rate: 0.391123 deg/s,
      cmd update: 1.564491 deg/s,
      cmd heading: 232.334427 deg,
      new cmd heading: 232.570548 deg.

2021-08-14T19:08:11.518Z,1628968091.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:11.877Z,1628968091.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:11.877Z,1628968091.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:11.877Z,1628968091.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:11.878Z,1628968091.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:12.289Z,1628968092.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00AFE,185,80,80,AC,FF
2021-08-14T19:08:12.290Z,1628968092.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:12.290Z,1628968092.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:12.291Z,1628968092.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:12.688Z,1628968092.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:13.105Z,1628968093.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00AC0,184,80,80,C4,FF
2021-08-14T19:08:13.106Z,1628968093.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:13.542Z,1628968093.542 [Micromodem](INFO): Nmea in: $SNTTA,0.098711,,,,190814.24*45

2021-08-14T19:08:13.562Z,1628968093.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.619995 m, bearing: 240.948474 deg, deltaT: 4.505645 s, approachRate: -0.825631 m/s, LOS rate: -0.095576 deg/s, posRepo size: 4
2021-08-14T19:08:13.564Z,1628968093.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.619995 m,
      bearing: 240.948474 deg,
      approachRate: -0.825631 m/s,
      LOS rate: -0.095576 deg/s,
      cmd update: -0.382302 deg/s,
      cmd heading: 239.370813 deg,
      new cmd heading: 239.988406 deg.

2021-08-14T19:08:15.950Z,1628968095.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:16.317Z,1628968096.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:16.318Z,1628968096.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:16.319Z,1628968096.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:16.320Z,1628968096.320 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:16.745Z,1628968096.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00AC0,184,80,80,C4,FF
2021-08-14T19:08:16.745Z,1628968096.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:16.746Z,1628968096.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:16.752Z,1628968096.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:17.150Z,1628968097.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:17.541Z,1628968097.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00A84,184,80,80,A0,FF
2021-08-14T19:08:17.541Z,1628968097.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:17.956Z,1628968097.956 [Micromodem](INFO): Nmea in: $SNTTA,0.082445,,,,190818.70*41

2021-08-14T19:08:18.063Z,1628968098.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.020004 m, bearing: 241.861889 deg, deltaT: 4.408905 s, approachRate: -0.816527 m/s, LOS rate: 0.207175 deg/s, posRepo size: 4
2021-08-14T19:08:18.069Z,1628968098.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 241.861889 deg,
      approachRate: -0.816527 m/s,
      LOS rate: 0.207175 deg/s,
      cmd update: 0.828700 deg/s,
      cmd heading: 237.691272 deg,
      new cmd heading: 237.498520 deg.

2021-08-14T19:08:20.419Z,1628968100.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:20.793Z,1628968100.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:20.793Z,1628968100.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:20.793Z,1628968100.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:20.794Z,1628968100.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:21.169Z,1628968101.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00A84,184,80,80,A0,FF
2021-08-14T19:08:21.169Z,1628968101.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:21.169Z,1628968101.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:21.171Z,1628968101.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:21.585Z,1628968101.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:21.981Z,1628968101.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00A45,184,80,80,A7,FF
2021-08-14T19:08:21.982Z,1628968101.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:22.401Z,1628968102.401 [Micromodem](INFO): Nmea in: $SNTTA,0.082316,0.361170,,,190823.12*50

2021-08-14T19:08:22.450Z,1628968102.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.239998 m, bearing: 242.333254 deg, deltaT: 4.545525 s, approachRate: -0.831589 m/s, LOS rate: 0.103699 deg/s, posRepo size: 4
2021-08-14T19:08:22.452Z,1628968102.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.239998 m,
      bearing: 242.333254 deg,
      approachRate: -0.831589 m/s,
      LOS rate: 0.103699 deg/s,
      cmd update: 0.414795 deg/s,
      cmd heading: 241.474381 deg,
      new cmd heading: 241.744854 deg.

2021-08-14T19:08:24.841Z,1628968104.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:25.209Z,1628968105.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:25.209Z,1628968105.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:25.209Z,1628968105.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:25.210Z,1628968105.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:25.621Z,1628968105.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00A45,184,80,80,A7,FF
2021-08-14T19:08:25.621Z,1628968105.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:25.621Z,1628968105.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:25.623Z,1628968105.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:26.055Z,1628968106.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:26.429Z,1628968106.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,00A04,186,80,80,B9,FF
2021-08-14T19:08:26.429Z,1628968106.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:26.865Z,1628968106.865 [Micromodem](INFO): Nmea in: $SNTTA,0.082400,,,,190827.57*49

2021-08-14T19:08:26.906Z,1628968106.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.340004 m, bearing: 241.926065 deg, deltaT: 4.318681 s, approachRate: -0.903052 m/s, LOS rate: -0.094285 deg/s, posRepo size: 4
2021-08-14T19:08:26.909Z,1628968106.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.340004 m,
      bearing: 241.926065 deg,
      approachRate: -0.903052 m/s,
      LOS rate: -0.094285 deg/s,
      cmd update: -0.377142 deg/s,
      cmd heading: 243.267567 deg,
      new cmd heading: 243.458325 deg.

2021-08-14T19:08:29.275Z,1628968109.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:29.665Z,1628968109.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:29.665Z,1628968109.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:29.666Z,1628968109.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:29.666Z,1628968109.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:30.097Z,1628968110.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,00A04,186,80,80,B9,FF
2021-08-14T19:08:30.097Z,1628968110.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:30.097Z,1628968110.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:30.099Z,1628968110.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:30.483Z,1628968110.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:30.873Z,1628968110.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00715,186,80,80,B1,FF
2021-08-14T19:08:30.874Z,1628968110.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:31.317Z,1628968111.317 [Micromodem](INFO): Nmea in: $SNTTA,0.066885,,,,190832.05*41

2021-08-14T19:08:31.350Z,1628968111.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 241.273618 deg, deltaT: 4.454917 s, approachRate: -10.114666 m/s, LOS rate: -0.146455 deg/s, posRepo size: 4
2021-08-14T19:08:31.353Z,1628968111.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.280006 m,
      bearing: 241.273618 deg,
      approachRate: -10.114666 m/s,
      LOS rate: -0.146455 deg/s,
      cmd update: -0.585822 deg/s,
      cmd heading: 241.587555 deg,
      new cmd heading: 241.418244 deg.

2021-08-14T19:08:33.772Z,1628968113.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:34.113Z,1628968114.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:34.113Z,1628968114.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:34.113Z,1628968114.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:34.114Z,1628968114.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:34.518Z,1628968114.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00715,186,80,80,B1,FF
2021-08-14T19:08:34.518Z,1628968114.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:34.518Z,1628968114.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:34.521Z,1628968114.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:34.916Z,1628968114.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:35.318Z,1628968115.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00986,186,80,80,A0,FF
2021-08-14T19:08:35.318Z,1628968115.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:35.760Z,1628968115.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190836.47*58

2021-08-14T19:08:35.798Z,1628968115.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 241.883500 deg, deltaT: 4.444695 s, approachRate: 8.437024 m/s, LOS rate: 0.137216 deg/s, posRepo size: 4
2021-08-14T19:08:35.800Z,1628968115.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.780006 m,
      bearing: 241.883500 deg,
      approachRate: 8.437024 m/s,
      LOS rate: 0.137216 deg/s,
      cmd update: 0.548862 deg/s,
      cmd heading: 238.985124 deg,
      new cmd heading: 238.718937 deg.

2021-08-14T19:08:38.192Z,1628968118.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:38.558Z,1628968118.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:38.558Z,1628968118.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:38.559Z,1628968118.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:38.559Z,1628968118.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:38.961Z,1628968118.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00986,186,80,80,A0,FF
2021-08-14T19:08:38.961Z,1628968118.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:38.962Z,1628968118.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:38.963Z,1628968118.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:39.360Z,1628968119.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:39.793Z,1628968119.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,00944,186,80,80,78,FF
2021-08-14T19:08:39.793Z,1628968119.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:40.198Z,1628968120.198 [Micromodem](INFO): Nmea in: $SNTTA,0.083479,,,,190840.91*4D

2021-08-14T19:08:40.254Z,1628968120.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.820000 m, bearing: 240.138304 deg, deltaT: 4.493964 s, approachRate: -0.881183 m/s, LOS rate: -0.388342 deg/s, posRepo size: 4
2021-08-14T19:08:40.256Z,1628968120.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.820000 m,
      bearing: 240.138304 deg,
      approachRate: -0.881183 m/s,
      LOS rate: -0.388342 deg/s,
      cmd update: -1.553368 deg/s,
      cmd heading: 241.453013 deg,
      new cmd heading: 241.680459 deg.

2021-08-14T19:08:42.661Z,1628968122.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:42.985Z,1628968122.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:42.985Z,1628968122.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:42.985Z,1628968122.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:42.986Z,1628968122.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:43.389Z,1628968123.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,00944,186,80,80,78,FF
2021-08-14T19:08:43.389Z,1628968123.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:43.389Z,1628968123.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:43.391Z,1628968123.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:43.805Z,1628968123.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:44.213Z,1628968124.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00909,186,80,80,83,FF
2021-08-14T19:08:44.218Z,1628968124.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:44.242Z,1628968124.242 [Micromodem](INFO): Nmea in: $SNTTA,0.079418,0.250793,,,190845.34*51

2021-08-14T19:08:44.639Z,1628968124.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 241.251188 deg, deltaT: 4.502167 s, approachRate: -0.786288 m/s, LOS rate: 0.247188 deg/s, posRepo size: 4
2021-08-14T19:08:44.642Z,1628968124.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.279999 m,
      bearing: 241.251188 deg,
      approachRate: -0.786288 m/s,
      LOS rate: 0.247188 deg/s,
      cmd update: 0.988754 deg/s,
      cmd heading: 234.465512 deg,
      new cmd heading: 233.997561 deg.

2021-08-14T19:08:47.074Z,1628968127.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:47.441Z,1628968127.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:47.441Z,1628968127.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:47.441Z,1628968127.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:47.442Z,1628968127.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:47.837Z,1628968127.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00909,186,80,80,83,FF
2021-08-14T19:08:47.837Z,1628968127.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:47.837Z,1628968127.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:47.839Z,1628968127.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:48.253Z,1628968128.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:48.651Z,1628968128.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,008CA,183,80,80,AA,FF
2021-08-14T19:08:48.651Z,1628968128.651 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:49.085Z,1628968129.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190849.79*5D

2021-08-14T19:08:49.111Z,1628968129.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.500008 m, bearing: 242.339183 deg, deltaT: 4.325589 s, approachRate: -0.873867 m/s, LOS rate: 0.251525 deg/s, posRepo size: 4
2021-08-14T19:08:49.141Z,1628968129.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.500008 m,
      bearing: 242.339183 deg,
      approachRate: -0.873867 m/s,
      LOS rate: 0.251525 deg/s,
      cmd update: 1.006101 deg/s,
      cmd heading: 238.746548 deg,
      new cmd heading: 239.184647 deg.

2021-08-14T19:08:51.526Z,1628968131.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:51.885Z,1628968131.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:51.885Z,1628968131.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:51.885Z,1628968131.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:51.886Z,1628968131.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:52.281Z,1628968132.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,008CA,183,80,80,AA,FF
2021-08-14T19:08:52.282Z,1628968132.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:52.282Z,1628968132.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:52.283Z,1628968132.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:52.689Z,1628968132.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:53.093Z,1628968133.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00890,185,80,80,B6,FF
2021-08-14T19:08:53.094Z,1628968133.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:53.544Z,1628968133.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190854.23*5E

2021-08-14T19:08:53.563Z,1628968133.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 241.945354 deg, deltaT: 4.477534 s, approachRate: -0.777216 m/s, LOS rate: -0.087957 deg/s, posRepo size: 4
2021-08-14T19:08:53.566Z,1628968133.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 241.945354 deg,
      approachRate: -0.777216 m/s,
      LOS rate: -0.087957 deg/s,
      cmd update: -0.351826 deg/s,
      cmd heading: 243.226400 deg,
      new cmd heading: 243.671880 deg.

2021-08-14T19:08:55.963Z,1628968135.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:08:56.325Z,1628968136.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:08:56.325Z,1628968136.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:08:56.325Z,1628968136.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:08:56.326Z,1628968136.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:08:56.745Z,1628968136.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00890,185,80,80,B6,FF
2021-08-14T19:08:56.745Z,1628968136.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:08:56.746Z,1628968136.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:08:56.756Z,1628968136.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:08:57.137Z,1628968137.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:08:57.545Z,1628968137.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,0084D,185,80,80,8B,FF
2021-08-14T19:08:57.546Z,1628968137.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:08:57.955Z,1628968137.955 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190858.70*54

2021-08-14T19:08:58.078Z,1628968138.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 240.620406 deg, deltaT: 4.422075 s, approachRate: -0.909075 m/s, LOS rate: -0.299621 deg/s, posRepo size: 4
2021-08-14T19:08:58.086Z,1628968138.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.000000 m,
      bearing: 240.620406 deg,
      approachRate: -0.909075 m/s,
      LOS rate: -0.299621 deg/s,
      cmd update: -1.198485 deg/s,
      cmd heading: 241.661868 deg,
      new cmd heading: 241.485614 deg.

2021-08-14T19:09:00.073Z,1628968140.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:00.365Z,1628968140.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:00.365Z,1628968140.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:00.365Z,1628968140.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:00.366Z,1628968140.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:00.794Z,1628968140.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,0084D,185,80,80,8B,FF
2021-08-14T19:09:00.794Z,1628968140.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:00.794Z,1628968140.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:00.795Z,1628968140.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:01.172Z,1628968141.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:01.573Z,1628968141.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00812,187,80,80,C6,FF
2021-08-14T19:09:01.574Z,1628968141.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:02.021Z,1628968142.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190902.75*5F

2021-08-14T19:09:02.106Z,1628968142.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.459999 m, bearing: 241.370170 deg, deltaT: 4.023124 s, approachRate: -0.879913 m/s, LOS rate: 0.186364 deg/s, posRepo size: 4
2021-08-14T19:09:02.110Z,1628968142.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.459999 m,
      bearing: 241.370170 deg,
      approachRate: -0.879913 m/s,
      LOS rate: 0.186364 deg/s,
      cmd update: 0.745454 deg/s,
      cmd heading: 236.840201 deg,
      new cmd heading: 236.222121 deg.

2021-08-14T19:09:04.108Z,1628968144.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:04.405Z,1628968144.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:04.405Z,1628968144.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:04.405Z,1628968144.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:04.406Z,1628968144.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:04.809Z,1628968144.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00812,187,80,80,C6,FF
2021-08-14T19:09:04.809Z,1628968144.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:04.809Z,1628968144.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:04.811Z,1628968144.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:05.212Z,1628968145.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:05.621Z,1628968145.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,007D9,184,80,80,B6,FF
2021-08-14T19:09:05.621Z,1628968145.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:06.085Z,1628968146.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190906.76*58

2021-08-14T19:09:06.163Z,1628968146.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.040009 m, bearing: 242.376284 deg, deltaT: 4.047796 s, approachRate: -0.844902 m/s, LOS rate: 0.248559 deg/s, posRepo size: 4
2021-08-14T19:09:06.169Z,1628968146.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.040009 m,
      bearing: 242.376284 deg,
      approachRate: -0.844902 m/s,
      LOS rate: 0.248559 deg/s,
      cmd update: 0.994234 deg/s,
      cmd heading: 239.857668 deg,
      new cmd heading: 240.248828 deg.

2021-08-14T19:09:08.157Z,1628968148.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:08.450Z,1628968148.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:08.450Z,1628968148.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:08.450Z,1628968148.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:08.451Z,1628968148.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:08.841Z,1628968148.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,007D9,184,80,80,B6,FF
2021-08-14T19:09:08.841Z,1628968148.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:08.842Z,1628968148.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:08.843Z,1628968148.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:09.253Z,1628968149.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:09.653Z,1628968149.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,0079E,184,80,80,AE,FF
2021-08-14T19:09:09.654Z,1628968149.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:10.105Z,1628968150.105 [Micromodem](INFO): Nmea in: $SNTTA,0.058765,,,,190910.79*47

2021-08-14T19:09:10.168Z,1628968150.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 241.657885 deg, deltaT: 4.032287 s, approachRate: -0.877914 m/s, LOS rate: -0.178162 deg/s, posRepo size: 4
2021-08-14T19:09:10.170Z,1628968150.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 241.657885 deg,
      approachRate: -0.877914 m/s,
      LOS rate: -0.178162 deg/s,
      cmd update: -0.712647 deg/s,
      cmd heading: 243.866671 deg,
      new cmd heading: 244.361171 deg.

2021-08-14T19:09:12.526Z,1628968152.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:12.893Z,1628968152.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:12.893Z,1628968152.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:12.893Z,1628968152.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:12.894Z,1628968152.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:13.289Z,1628968153.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,0079E,184,80,80,AE,FF
2021-08-14T19:09:13.290Z,1628968153.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:13.290Z,1628968153.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:13.291Z,1628968153.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:13.692Z,1628968153.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:14.128Z,1628968154.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,0075D,186,80,80,AC,FF
2021-08-14T19:09:14.129Z,1628968154.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:14.132Z,1628968154.132 [Micromodem](INFO): Nmea in: $SNTTA,0.301406,0.260638,,,190915.24*54

2021-08-14T19:09:14.544Z,1628968154.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.600006 m, bearing: 241.053960 deg, deltaT: 4.534762 s, approachRate: -0.860023 m/s, LOS rate: -0.133177 deg/s, posRepo size: 4
2021-08-14T19:09:14.546Z,1628968154.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.600006 m,
      bearing: 241.053960 deg,
      approachRate: -0.860023 m/s,
      LOS rate: -0.133177 deg/s,
      cmd update: -0.532707 deg/s,
      cmd heading: 240.637846 deg,
      new cmd heading: 240.393971 deg.

2021-08-14T19:09:16.977Z,1628968156.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:17.329Z,1628968157.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:17.329Z,1628968157.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:17.329Z,1628968157.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:17.330Z,1628968157.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:17.761Z,1628968157.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,0075D,186,80,80,AC,FF
2021-08-14T19:09:17.761Z,1628968157.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:17.761Z,1628968157.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:17.763Z,1628968157.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:18.145Z,1628968158.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:18.561Z,1628968158.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00723,184,80,80,87,FF
2021-08-14T19:09:18.561Z,1628968158.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:18.974Z,1628968158.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190919.71*51

2021-08-14T19:09:19.029Z,1628968159.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 243.053894 deg, deltaT: 4.403808 s, approachRate: -0.790224 m/s, LOS rate: 0.454137 deg/s, posRepo size: 4
2021-08-14T19:09:19.031Z,1628968159.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.120010 m,
      bearing: 243.053894 deg,
      approachRate: -0.790224 m/s,
      LOS rate: 0.454137 deg/s,
      cmd update: 1.816550 deg/s,
      cmd heading: 238.291147 deg,
      new cmd heading: 238.066660 deg.

2021-08-14T19:09:21.414Z,1628968161.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:21.797Z,1628968161.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:21.797Z,1628968161.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:21.797Z,1628968161.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:21.798Z,1628968161.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:22.177Z,1628968162.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00723,184,80,80,87,FF
2021-08-14T19:09:22.177Z,1628968162.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:22.177Z,1628968162.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:22.179Z,1628968162.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:22.585Z,1628968162.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:22.989Z,1628968162.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,006E3,184,80,80,A6,FF
2021-08-14T19:09:22.990Z,1628968162.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:23.425Z,1628968163.425 [Micromodem](INFO): Nmea in: $SNTTA,0.055023,,,,190924.13*44

2021-08-14T19:09:23.461Z,1628968163.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.279999 m, bearing: 243.287459 deg, deltaT: 4.436581 s, approachRate: -0.865534 m/s, LOS rate: 0.052645 deg/s, posRepo size: 4
2021-08-14T19:09:23.463Z,1628968163.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.279999 m,
      bearing: 243.287459 deg,
      approachRate: -0.865534 m/s,
      LOS rate: 0.052645 deg/s,
      cmd update: 0.210581 deg/s,
      cmd heading: 246.301945 deg,
      new cmd heading: 247.108900 deg.

2021-08-14T19:09:25.867Z,1628968165.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:26.217Z,1628968166.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:26.217Z,1628968166.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:26.217Z,1628968166.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:26.218Z,1628968166.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:26.630Z,1628968166.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,006E3,184,80,80,A6,FF
2021-08-14T19:09:26.630Z,1628968166.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:26.630Z,1628968166.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:26.634Z,1628968166.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:27.028Z,1628968167.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:27.438Z,1628968167.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,0069D,186,80,80,B4,FF
2021-08-14T19:09:27.439Z,1628968167.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:27.873Z,1628968167.873 [Micromodem](INFO): Nmea in: $SNTTA,0.059876,,,,190928.58*43

2021-08-14T19:09:27.899Z,1628968167.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.080009 m, bearing: 241.673048 deg, deltaT: 4.409431 s, approachRate: -0.952501 m/s, LOS rate: -0.366127 deg/s, posRepo size: 4
2021-08-14T19:09:27.914Z,1628968167.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 241.673048 deg,
      approachRate: -0.952501 m/s,
      LOS rate: -0.366127 deg/s,
      cmd update: -1.464507 deg/s,
      cmd heading: 247.236655 deg,
      new cmd heading: 247.330061 deg.

2021-08-14T19:09:30.288Z,1628968170.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:30.669Z,1628968170.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:30.669Z,1628968170.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:30.669Z,1628968170.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:30.670Z,1628968170.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:31.073Z,1628968171.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,0069D,186,80,80,B4,FF
2021-08-14T19:09:31.073Z,1628968171.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:31.073Z,1628968171.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:31.075Z,1628968171.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:31.477Z,1628968171.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:31.886Z,1628968171.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00660,186,80,80,91,FF
2021-08-14T19:09:31.886Z,1628968171.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:32.317Z,1628968172.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190933.02*5D

2021-08-14T19:09:32.372Z,1628968172.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 242.038900 deg, deltaT: 4.458269 s, approachRate: -0.820949 m/s, LOS rate: 0.082062 deg/s, posRepo size: 4
2021-08-14T19:09:32.374Z,1628968172.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.419998 m,
      bearing: 242.038900 deg,
      approachRate: -0.820949 m/s,
      LOS rate: 0.082062 deg/s,
      cmd update: 0.328246 deg/s,
      cmd heading: 240.707452 deg,
      new cmd heading: 240.042106 deg.

2021-08-14T19:09:34.767Z,1628968174.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:35.105Z,1628968175.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:35.105Z,1628968175.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:35.105Z,1628968175.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:35.106Z,1628968175.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:35.514Z,1628968175.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00660,186,80,80,91,FF
2021-08-14T19:09:35.514Z,1628968175.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:35.514Z,1628968175.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:35.516Z,1628968175.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:35.917Z,1628968175.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:36.317Z,1628968176.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00621,184,80,80,A8,FF
2021-08-14T19:09:36.318Z,1628968176.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:36.773Z,1628968176.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190937.46*59

2021-08-14T19:09:36.799Z,1628968176.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 243.790789 deg, deltaT: 4.461693 s, approachRate: -0.847210 m/s, LOS rate: 0.392651 deg/s, posRepo size: 4
2021-08-14T19:09:36.801Z,1628968176.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.640007 m,
      bearing: 243.790789 deg,
      approachRate: -0.847210 m/s,
      LOS rate: 0.392651 deg/s,
      cmd update: 1.570605 deg/s,
      cmd heading: 242.171925 deg,
      new cmd heading: 242.311011 deg.

2021-08-14T19:09:39.168Z,1628968179.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:39.561Z,1628968179.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:39.561Z,1628968179.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:39.561Z,1628968179.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:39.562Z,1628968179.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:39.957Z,1628968179.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00621,184,80,80,A8,FF
2021-08-14T19:09:39.957Z,1628968179.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:39.957Z,1628968179.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:39.959Z,1628968179.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:40.373Z,1628968180.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:40.789Z,1628968180.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,005E0,186,80,80,98,FF
2021-08-14T19:09:40.790Z,1628968180.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:41.217Z,1628968181.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190941.91*52

2021-08-14T19:09:41.240Z,1628968181.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.739998 m, bearing: 242.190722 deg, deltaT: 4.441486 s, approachRate: -0.878087 m/s, LOS rate: -0.360255 deg/s, posRepo size: 4
2021-08-14T19:09:41.242Z,1628968181.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 242.190722 deg,
      approachRate: -0.878087 m/s,
      LOS rate: -0.360255 deg/s,
      cmd update: -1.441020 deg/s,
      cmd heading: 249.147608 deg,
      new cmd heading: 249.812208 deg.

2021-08-14T19:09:43.630Z,1628968183.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:44.004Z,1628968184.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:44.004Z,1628968184.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:44.005Z,1628968184.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:44.006Z,1628968184.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:44.409Z,1628968184.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,005E0,186,80,80,98,FF
2021-08-14T19:09:44.409Z,1628968184.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:44.409Z,1628968184.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:44.411Z,1628968184.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:44.819Z,1628968184.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:45.217Z,1628968185.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,005A0,186,80,80,9E,FF
2021-08-14T19:09:45.218Z,1628968185.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:45.650Z,1628968185.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190946.36*58

2021-08-14T19:09:45.668Z,1628968185.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 241.785746 deg, deltaT: 4.475036 s, approachRate: -0.858093 m/s, LOS rate: -0.090497 deg/s, posRepo size: 4
2021-08-14T19:09:45.670Z,1628968185.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.900002 m,
      bearing: 241.785746 deg,
      approachRate: -0.858093 m/s,
      LOS rate: -0.090497 deg/s,
      cmd update: -0.361986 deg/s,
      cmd heading: 242.698618 deg,
      new cmd heading: 242.156800 deg.

2021-08-14T19:09:48.149Z,1628968188.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:48.450Z,1628968188.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:48.450Z,1628968188.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:48.450Z,1628968188.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:48.451Z,1628968188.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:48.846Z,1628968188.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,005A0,186,80,80,9E,FF
2021-08-14T19:09:48.846Z,1628968188.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:48.846Z,1628968188.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:48.848Z,1628968188.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:49.279Z,1628968189.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:49.657Z,1628968189.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00566,186,80,80,91,FF
2021-08-14T19:09:49.658Z,1628968189.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:50.110Z,1628968190.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190950.80*52

2021-08-14T19:09:50.180Z,1628968190.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 244.476349 deg, deltaT: 4.382393 s, approachRate: -0.794087 m/s, LOS rate: 0.613957 deg/s, posRepo size: 4
2021-08-14T19:09:50.182Z,1628968190.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 244.476349 deg,
      approachRate: -0.794087 m/s,
      LOS rate: 0.613957 deg/s,
      cmd update: 2.455830 deg/s,
      cmd heading: 241.112287 deg,
      new cmd heading: 240.930564 deg.

2021-08-14T19:09:52.530Z,1628968192.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:52.885Z,1628968192.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:52.885Z,1628968192.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:52.885Z,1628968192.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:52.886Z,1628968192.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:53.290Z,1628968193.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00566,186,80,80,91,FF
2021-08-14T19:09:53.290Z,1628968193.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:53.290Z,1628968193.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:53.294Z,1628968193.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:53.704Z,1628968193.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:54.094Z,1628968194.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00525,186,80,80,68,FF
2021-08-14T19:09:54.095Z,1628968194.095 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:54.541Z,1628968194.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190955.24*59

2021-08-14T19:09:54.564Z,1628968194.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 244.087301 deg, deltaT: 4.509521 s, approachRate: -0.864836 m/s, LOS rate: -0.086272 deg/s, posRepo size: 4
2021-08-14T19:09:54.566Z,1628968194.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.520000 m,
      bearing: 244.087301 deg,
      approachRate: -0.864836 m/s,
      LOS rate: -0.086272 deg/s,
      cmd update: -0.345090 deg/s,
      cmd heading: 252.187038 deg,
      new cmd heading: 253.120572 deg.

2021-08-14T19:09:56.974Z,1628968196.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:09:57.338Z,1628968197.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:09:57.338Z,1628968197.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:09:57.338Z,1628968197.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:09:57.339Z,1628968197.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:09:57.758Z,1628968197.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00525,186,80,80,68,FF
2021-08-14T19:09:57.758Z,1628968197.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:09:57.758Z,1628968197.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:09:57.760Z,1628968197.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:09:58.137Z,1628968198.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:09:58.545Z,1628968198.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,004E2,186,80,80,7B,FF
2021-08-14T19:09:58.545Z,1628968198.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:09:58.966Z,1628968198.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190959.71*55

2021-08-14T19:09:59.020Z,1628968199.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 240.365586 deg, deltaT: 4.378823 s, approachRate: -0.918055 m/s, LOS rate: -0.849935 deg/s, posRepo size: 4
2021-08-14T19:09:59.021Z,1628968199.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.50 m.
2021-08-14T19:09:59.023Z,1628968199.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.500000 m,
      bearing: 240.365586 deg,
      approachRate: -0.918055 m/s,
      LOS rate: -0.849935 deg/s,
      cmd update: -3.399741 deg/s,
      cmd heading: 250.676001 deg,
      new cmd heading: 250.518055 deg.

2021-08-14T19:09:59.386Z,1628968199.386 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:09:59.422Z,1628968199.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T19:09:59.422Z,1628968199.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:09:59.422Z,1628968199.422 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T19:09:59.423Z,1628968199.423 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T19:09:59.423Z,1628968199.423 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T19:09:59.423Z,1628968199.423 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T19:09:59.864Z,1628968199.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T19:09:59.864Z,1628968199.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:09:59.865Z,1628968199.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T19:09:59.865Z,1628968199.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:10:01.453Z,1628968201.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:01.797Z,1628968201.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:01.797Z,1628968201.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:01.797Z,1628968201.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:01.798Z,1628968201.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:02.173Z,1628968202.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,004E2,186,80,80,7B,FF
2021-08-14T19:10:02.173Z,1628968202.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:02.173Z,1628968202.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:02.175Z,1628968202.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:02.581Z,1628968202.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:02.993Z,1628968202.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,004A3,186,80,80,8C,FF
2021-08-14T19:10:02.994Z,1628968202.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:03.074Z,1628968203.074 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:03.417Z,1628968203.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191004.13*51

2021-08-14T19:10:03.452Z,1628968203.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 243.859992 deg, deltaT: 4.509153 s, approachRate: -0.838295 m/s, LOS rate: 0.774959 deg/s, posRepo size: 4
2021-08-14T19:10:03.453Z,1628968203.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2021-08-14T19:10:03.455Z,1628968203.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 243.859992 deg,
      approachRate: -0.838295 m/s,
      LOS rate: 0.774959 deg/s,
      cmd update: 3.099834 deg/s,
      cmd heading: 235.381364 deg,
      new cmd heading: 234.052031 deg.

2021-08-14T19:10:05.842Z,1628968205.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:06.221Z,1628968206.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:06.221Z,1628968206.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:06.222Z,1628968206.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:06.222Z,1628968206.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:06.625Z,1628968206.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,004A3,186,80,80,8C,FF
2021-08-14T19:10:06.625Z,1628968206.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:06.625Z,1628968206.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:06.627Z,1628968206.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:07.032Z,1628968207.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:07.429Z,1628968207.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00468,183,80,80,75,FF
2021-08-14T19:10:07.429Z,1628968207.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:07.450Z,1628968207.450 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:07.865Z,1628968207.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191008.58*52

2021-08-14T19:10:07.923Z,1628968207.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 244.340373 deg, deltaT: 4.375820 s, approachRate: -0.808991 m/s, LOS rate: 0.109781 deg/s, posRepo size: 4
2021-08-14T19:10:07.924Z,1628968207.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.18 m.
2021-08-14T19:10:07.927Z,1628968207.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.180000 m,
      bearing: 244.340373 deg,
      approachRate: -0.808991 m/s,
      LOS rate: 0.109781 deg/s,
      cmd update: 0.439123 deg/s,
      cmd heading: 248.976976 deg,
      new cmd heading: 250.451533 deg.

2021-08-14T19:10:10.303Z,1628968210.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:10.663Z,1628968210.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:10.663Z,1628968210.663 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:10.663Z,1628968210.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:10.664Z,1628968210.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:11.061Z,1628968211.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00468,183,80,80,75,FF
2021-08-14T19:10:11.061Z,1628968211.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:11.061Z,1628968211.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:11.063Z,1628968211.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:11.468Z,1628968211.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:11.873Z,1628968211.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0042F,187,80,80,3C,FF
2021-08-14T19:10:11.874Z,1628968211.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:11.943Z,1628968211.943 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:12.341Z,1628968212.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191013.01*54

2021-08-14T19:10:12.401Z,1628968212.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 242.509527 deg, deltaT: 4.497337 s, approachRate: -0.760450 m/s, LOS rate: -0.407096 deg/s, posRepo size: 4
2021-08-14T19:10:12.402Z,1628968212.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.76 m.
2021-08-14T19:10:12.402Z,1628968212.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 26.76 m.
2021-08-14T19:10:12.402Z,1628968212.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T19:10:12.408Z,1628968212.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 242.509527 deg,
      approachRate: -0.760450 m/s,
      LOS rate: -0.407096 deg/s,
      cmd update: -1.628382 deg/s,
      cmd heading: 250.947324 deg,
      new cmd heading: 251.150616 deg.

2021-08-14T19:10:14.764Z,1628968214.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:15.101Z,1628968215.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:15.101Z,1628968215.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:15.101Z,1628968215.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:15.102Z,1628968215.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:15.506Z,1628968215.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0042F,187,80,80,3C,FF
2021-08-14T19:10:15.506Z,1628968215.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:15.506Z,1628968215.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:15.509Z,1628968215.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:15.928Z,1628968215.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:16.321Z,1628968216.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,003F3,185,80,80,A7,FF
2021-08-14T19:10:16.321Z,1628968216.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:16.395Z,1628968216.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:16.766Z,1628968216.766 [Micromodem](INFO): Nmea in: $SNTTA,0.042456,,,,191017.46*4C

2021-08-14T19:10:16.793Z,1628968216.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 242.135616 deg, deltaT: 4.446968 s, approachRate: -0.809540 m/s, LOS rate: -0.084082 deg/s, posRepo size: 4
2021-08-14T19:10:16.795Z,1628968216.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.160000 m,
      bearing: 242.135616 deg,
      approachRate: -0.809540 m/s,
      LOS rate: -0.084082 deg/s,
      cmd update: -0.336330 deg/s,
      cmd heading: 243.689749 deg,
      new cmd heading: 243.035109 deg.

2021-08-14T19:10:19.167Z,1628968219.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:19.549Z,1628968219.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:19.549Z,1628968219.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:19.549Z,1628968219.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:19.550Z,1628968219.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:19.949Z,1628968219.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,003F3,185,80,80,A7,FF
2021-08-14T19:10:19.949Z,1628968219.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:19.949Z,1628968219.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:19.951Z,1628968219.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:20.367Z,1628968220.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:20.789Z,1628968220.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,003B7,184,80,80,4A,FF
2021-08-14T19:10:20.790Z,1628968220.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:20.845Z,1628968220.845 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:21.201Z,1628968221.201 [Micromodem](INFO): Nmea in: $SNTTA,0.028289,,,,191021.90*4A

2021-08-14T19:10:21.224Z,1628968221.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 245.560955 deg, deltaT: 4.450277 s, approachRate: -0.808938 m/s, LOS rate: 0.769691 deg/s, posRepo size: 4
2021-08-14T19:10:21.226Z,1628968221.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 245.560955 deg,
      approachRate: -0.808938 m/s,
      LOS rate: 0.769691 deg/s,
      cmd update: 3.078766 deg/s,
      cmd heading: 242.201210 deg,
      new cmd heading: 242.064385 deg.

2021-08-14T19:10:23.619Z,1628968223.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:23.997Z,1628968223.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:23.997Z,1628968223.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:23.998Z,1628968223.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:23.999Z,1628968223.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:24.409Z,1628968224.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,003B7,184,80,80,4A,FF
2021-08-14T19:10:24.409Z,1628968224.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:24.409Z,1628968224.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:24.411Z,1628968224.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:24.809Z,1628968224.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:25.197Z,1628968225.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00387,183,80,80,60,FF
2021-08-14T19:10:25.198Z,1628968225.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:25.254Z,1628968225.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:25.645Z,1628968225.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191026.36*56

2021-08-14T19:10:25.670Z,1628968225.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 246.137560 deg, deltaT: 4.409093 s, approachRate: -0.653195 m/s, LOS rate: 0.130776 deg/s, posRepo size: 4
2021-08-14T19:10:25.672Z,1628968225.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.680002 m,
      bearing: 246.137560 deg,
      approachRate: -0.653195 m/s,
      LOS rate: 0.130776 deg/s,
      cmd update: 0.523105 deg/s,
      cmd heading: 255.840182 deg,
      new cmd heading: 257.141989 deg.

2021-08-14T19:10:28.138Z,1628968228.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:28.437Z,1628968228.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:28.437Z,1628968228.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:28.437Z,1628968228.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:28.438Z,1628968228.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:28.842Z,1628968228.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00387,183,80,80,60,FF
2021-08-14T19:10:28.842Z,1628968228.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:28.842Z,1628968228.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:28.844Z,1628968228.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:29.245Z,1628968229.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:29.641Z,1628968229.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,00342,186,80,80,78,FF
2021-08-14T19:10:29.642Z,1628968229.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:29.667Z,1628968229.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:30.108Z,1628968230.108 [Micromodem](INFO): Nmea in: $SNTTA,0.021996,,,,191030.80*47

2021-08-14T19:10:30.179Z,1628968230.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 242.893247 deg, deltaT: 4.413163 s, approachRate: -0.938103 m/s, LOS rate: -0.735145 deg/s, posRepo size: 4
2021-08-14T19:10:30.185Z,1628968230.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 242.893247 deg,
      approachRate: -0.938103 m/s,
      LOS rate: -0.735145 deg/s,
      cmd update: -2.940578 deg/s,
      cmd heading: 258.150854 deg,
      new cmd heading: 258.420051 deg.

2021-08-14T19:10:32.173Z,1628968232.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:32.473Z,1628968232.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:32.473Z,1628968232.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:32.473Z,1628968232.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:32.474Z,1628968232.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:32.885Z,1628968232.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,00342,186,80,80,78,FF
2021-08-14T19:10:32.886Z,1628968232.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:32.886Z,1628968232.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:32.887Z,1628968232.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:33.301Z,1628968233.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:33.689Z,1628968233.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,0030E,185,80,80,94,FF
2021-08-14T19:10:33.689Z,1628968233.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:33.743Z,1628968233.743 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:34.133Z,1628968234.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191034.84*5C

2021-08-14T19:10:34.208Z,1628968234.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 244.345482 deg, deltaT: 4.076064 s, approachRate: -0.765445 m/s, LOS rate: 0.356284 deg/s, posRepo size: 4
2021-08-14T19:10:34.210Z,1628968234.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 244.345482 deg,
      approachRate: -0.765445 m/s,
      LOS rate: 0.356284 deg/s,
      cmd update: 1.425134 deg/s,
      cmd heading: 246.250852 deg,
      new cmd heading: 244.800862 deg.

2021-08-14T19:10:36.554Z,1628968236.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:36.917Z,1628968236.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:36.917Z,1628968236.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:36.917Z,1628968236.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:36.918Z,1628968236.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:37.321Z,1628968237.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,0030E,185,80,80,94,FF
2021-08-14T19:10:37.321Z,1628968237.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:37.321Z,1628968237.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:37.323Z,1628968237.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:37.753Z,1628968237.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:38.129Z,1628968238.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,002E1,184,80,80,B3,FF
2021-08-14T19:10:38.129Z,1628968238.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:38.202Z,1628968238.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:38.577Z,1628968238.577 [Micromodem](INFO): Nmea in: $SNTTA,0.024042,,,,191039.27*46

2021-08-14T19:10:38.600Z,1628968238.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.719998 m, bearing: 249.997464 deg, deltaT: 4.459133 s, approachRate: -0.605499 m/s, LOS rate: 1.267507 deg/s, posRepo size: 4
2021-08-14T19:10:38.602Z,1628968238.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 249.997464 deg,
      approachRate: -0.605499 m/s,
      LOS rate: 1.267507 deg/s,
      cmd update: 5.070027 deg/s,
      cmd heading: 252.647380 deg,
      new cmd heading: 253.218025 deg.

2021-08-14T19:10:41.001Z,1628968241.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:41.361Z,1628968241.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:41.361Z,1628968241.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:41.361Z,1628968241.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:41.362Z,1628968241.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:41.804Z,1628968241.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,002E1,184,80,80,B3,FF
2021-08-14T19:10:41.804Z,1628968241.804 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:41.805Z,1628968241.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:41.806Z,1628968241.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:42.188Z,1628968242.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:42.570Z,1628968242.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,002C0,18A,80,80,35,FF
2021-08-14T19:10:42.570Z,1628968242.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:42.594Z,1628968242.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:43.008Z,1628968243.008 [Micromodem](INFO): Nmea in: $SNTTA,0.026811,,,,191043.76*43

2021-08-14T19:10:43.045Z,1628968243.045 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T19:10:43.046Z,1628968243.046 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T19:10:43.047Z,1628968243.047 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T19:10:43.047Z,1628968243.047 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:10:43.048Z,1628968243.048 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T19:10:43.049Z,1628968243.049 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-14T19:10:43.049Z,1628968243.049 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T19:10:43.049Z,1628968243.049 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T19:10:43.049Z,1628968243.049 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T19:10:43.055Z,1628968243.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 316.676858 deg, deltaT: 4.392244 s, approachRate: -0.450794 m/s, LOS rate: 15.181168 deg/s, posRepo size: 4
2021-08-14T19:10:43.058Z,1628968243.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.181168 deg/s. Setting heading cmd to target bearing of 316.676858deg and heading rate command to 0 deg/s.
2021-08-14T19:10:43.446Z,1628968243.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T191043: (41.552319, -70.708603)
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T19:10:43.447Z,1628968243.447 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T19:10:43.831Z,1628968243.831 [UniversalFixResidualReporter](INFO): Fix residual: 4.8 %DT, over the last 1237.8 m. Residual distance 59.8 m at bearing 157.0 degrees. Fix at (41.5530, -70.7046) with 0.0 m made good.
2021-08-14T19:10:45.419Z,1628968245.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:45.821Z,1628968245.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:45.821Z,1628968245.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:45.821Z,1628968245.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:45.822Z,1628968245.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:46.217Z,1628968246.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,002C0,18A,80,80,35,FF
2021-08-14T19:10:46.217Z,1628968246.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:46.218Z,1628968246.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:46.219Z,1628968246.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:46.647Z,1628968246.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:47.029Z,1628968247.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,002BB,187,80,80,AC,FF
2021-08-14T19:10:47.029Z,1628968247.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:47.092Z,1628968247.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:47.486Z,1628968247.486 [Micromodem](INFO): Nmea in: $SNTTA,0.040198,,,,191048.17*47

2021-08-14T19:10:47.532Z,1628968247.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 280.779187 deg, deltaT: 4.497989 s, approachRate: -0.066696 m/s, LOS rate: -7.980827 deg/s, posRepo size: 4
2021-08-14T19:10:47.534Z,1628968247.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 280.779187 deg,
      approachRate: -0.066696 m/s,
      LOS rate: -7.980827 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 316.676858 deg,
      new cmd heading: 316.676858 deg.

2021-08-14T19:10:49.910Z,1628968249.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:50.269Z,1628968250.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:50.270Z,1628968250.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:50.270Z,1628968250.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:50.271Z,1628968250.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:50.702Z,1628968250.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,002BB,187,80,80,AC,FF
2021-08-14T19:10:50.702Z,1628968250.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:50.702Z,1628968250.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:50.712Z,1628968250.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:51.079Z,1628968251.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:51.473Z,1628968251.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,002B9,183,80,80,A3,FF
2021-08-14T19:10:51.474Z,1628968251.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:51.545Z,1628968251.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:51.907Z,1628968251.907 [Micromodem](INFO): Nmea in: $SNTTA,0.036779,,,,191052.67*43

2021-08-14T19:10:51.941Z,1628968251.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 342.827466 deg, deltaT: 4.452244 s, approachRate: -0.026953 m/s, LOS rate: 13.936406 deg/s, posRepo size: 4
2021-08-14T19:10:51.942Z,1628968251.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.936406 deg/s. Setting heading cmd to target bearing of 342.827466deg and heading rate command to 0 deg/s.
2021-08-14T19:10:54.391Z,1628968254.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:54.709Z,1628968254.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:54.709Z,1628968254.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:54.709Z,1628968254.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:54.710Z,1628968254.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:10:55.115Z,1628968255.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,002B9,183,80,80,A3,FF
2021-08-14T19:10:55.115Z,1628968255.115 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:10:55.115Z,1628968255.115 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:10:55.117Z,1628968255.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:10:55.536Z,1628968255.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:10:56.355Z,1628968256.355 [Micromodem](INFO): Nmea in: $SNTTA,0.032488,,,,191057.07*49

2021-08-14T19:10:56.741Z,1628968256.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,032B9,183,80,80,A3,FF
2021-08-14T19:10:56.742Z,1628968256.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:10:56.817Z,1628968256.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:10:57.175Z,1628968257.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 741.599976 m, bearing: 359.837096 deg, deltaT: 5.271943 s, approachRate: 139.849762 m/s, LOS rate: 3.226444 deg/s, posRepo size: 4
2021-08-14T19:10:57.178Z,1628968257.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 741.599976 m,
      bearing: 359.837096 deg,
      approachRate: 139.849762 m/s,
      LOS rate: 3.226444 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.827466 deg,
      new cmd heading: 342.827466 deg.

2021-08-14T19:10:57.581Z,1628968257.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T19:10:57.581Z,1628968257.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T19:10:57.581Z,1628968257.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T19:10:57.582Z,1628968257.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T19:10:57.582Z,1628968257.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T19:10:57.582Z,1628968257.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T19:10:58.050Z,1628968258.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T19:10:58.050Z,1628968258.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T19:10:58.050Z,1628968258.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T19:10:58.051Z,1628968258.051 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T19:10:59.587Z,1628968259.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:10:59.970Z,1628968259.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:10:59.970Z,1628968259.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:10:59.970Z,1628968259.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:10:59.971Z,1628968259.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:00.365Z,1628968260.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,032B9,183,80,80,A3,FF
2021-08-14T19:11:00.366Z,1628968260.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:00.366Z,1628968260.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:00.368Z,1628968260.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:00.800Z,1628968260.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:01.181Z,1628968261.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,002BE,189,80,80,74,FF
2021-08-14T19:11:01.182Z,1628968261.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:01.625Z,1628968261.625 [Micromodem](INFO): Nmea in: $SNTTA,0.019836,,,,191102.32*4E

2021-08-14T19:11:01.647Z,1628968261.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 1.742331 deg, deltaT: 4.407532 s, approachRate: -167.209213 m/s, LOS rate: 0.432267 deg/s, posRepo size: 4
2021-08-14T19:11:01.649Z,1628968261.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 1.742331 deg,
      approachRate: -167.209213 m/s,
      LOS rate: 0.432267 deg/s,
      cmd update: 1.729068 deg/s,
      cmd heading: 35.769441 deg,
      new cmd heading: 40.879677 deg.

2021-08-14T19:11:02.064Z,1628968262.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T19:11:02.064Z,1628968262.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:11:02.064Z,1628968262.064 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T19:11:02.065Z,1628968262.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T19:11:02.065Z,1628968262.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T19:11:02.065Z,1628968262.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T19:11:02.457Z,1628968262.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T19:11:02.457Z,1628968262.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:11:02.457Z,1628968262.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T19:11:02.457Z,1628968262.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:11:04.096Z,1628968264.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:04.409Z,1628968264.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:04.409Z,1628968264.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:04.409Z,1628968264.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:04.410Z,1628968264.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:04.825Z,1628968264.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,002BE,189,80,80,74,FF
2021-08-14T19:11:04.825Z,1628968264.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:04.825Z,1628968264.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:04.827Z,1628968264.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:05.212Z,1628968265.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:05.625Z,1628968265.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,002BD,186,80,80,9D,FF
2021-08-14T19:11:05.625Z,1628968265.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:05.682Z,1628968265.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:11:06.073Z,1628968266.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191106.78*5F

2021-08-14T19:11:06.147Z,1628968266.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 52.316346 deg, deltaT: 4.457618 s, approachRate: -0.013460 m/s, LOS rate: 11.345525 deg/s, posRepo size: 4
2021-08-14T19:11:06.155Z,1628968266.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 52.316346 deg,
      approachRate: -0.013460 m/s,
      LOS rate: 11.345525 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 43.469274 deg,
      new cmd heading: 44.286518 deg.

2021-08-14T19:11:08.482Z,1628968268.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:08.857Z,1628968268.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:08.857Z,1628968268.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:08.857Z,1628968268.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:08.858Z,1628968268.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:09.257Z,1628968269.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,002BD,186,80,80,9D,FF
2021-08-14T19:11:09.257Z,1628968269.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:09.257Z,1628968269.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:09.259Z,1628968269.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:09.673Z,1628968269.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:10.100Z,1628968270.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,002BD,187,80,80,9C,FF
2021-08-14T19:11:10.101Z,1628968270.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:10.187Z,1628968270.187 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:11:10.518Z,1628968270.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191111.21*55

2021-08-14T19:11:10.539Z,1628968270.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 60.963052 deg, deltaT: 4.511331 s, approachRate: 0.000000 m/s, LOS rate: 1.916664 deg/s, posRepo size: 4
2021-08-14T19:11:10.541Z,1628968270.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 60.963052 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.916664 deg/s,
      cmd update: 7.666656 deg/s,
      cmd heading: 97.537304 deg,
      new cmd heading: 101.845628 deg.

2021-08-14T19:11:12.935Z,1628968272.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:13.293Z,1628968273.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:13.293Z,1628968273.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:13.293Z,1628968273.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:13.294Z,1628968273.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:13.710Z,1628968273.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,002BD,187,80,80,9C,FF
2021-08-14T19:11:13.710Z,1628968273.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:13.711Z,1628968273.711 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:13.714Z,1628968273.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:14.112Z,1628968274.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:14.537Z,1628968274.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,346,000,002BF,189,80,80,78,FF
2021-08-14T19:11:14.537Z,1628968274.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:14.590Z,1628968274.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:11:14.942Z,1628968274.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191115.66*52

2021-08-14T19:11:14.969Z,1628968274.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 14.749811 deg, deltaT: 4.396996 s, approachRate: 0.027292 m/s, LOS rate: -10.510185 deg/s, posRepo size: 4
2021-08-14T19:11:14.971Z,1628968274.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 14.749811 deg,
      approachRate: 0.027292 m/s,
      LOS rate: -10.510185 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.107728 deg,
      new cmd heading: 134.245981 deg.

2021-08-14T19:11:17.380Z,1628968277.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:17.762Z,1628968277.762 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:17.762Z,1628968277.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:17.762Z,1628968277.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:17.763Z,1628968277.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:18.145Z,1628968278.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
346,000,002BF,189,80,80,78,FF
2021-08-14T19:11:18.145Z,1628968278.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:18.146Z,1628968278.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:18.147Z,1628968278.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:18.555Z,1628968278.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:18.949Z,1628968278.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,002BE,187,80,80,6A,FF
2021-08-14T19:11:18.950Z,1628968278.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:19.000Z,1628968279.000 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:11:19.425Z,1628968279.425 [Micromodem](INFO): Nmea in: $SNTTA,0.033351,,,,191120.10*4C

2021-08-14T19:11:19.447Z,1628968279.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 26.143893 deg, deltaT: 4.410216 s, approachRate: -0.013605 m/s, LOS rate: 2.583566 deg/s, posRepo size: 4
2021-08-14T19:11:19.468Z,1628968279.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.62 m.
2021-08-14T19:11:19.468Z,1628968279.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.62 m. Cable present.
2021-08-14T19:11:19.469Z,1628968279.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T19:11:19.469Z,1628968279.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:11:19.469Z,1628968279.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T19:11:19.804Z,1628968279.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T19:11:19.804Z,1628968279.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T19:11:19.804Z,1628968279.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T19:11:20.225Z,1628968280.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T19:11:20.226Z,1628968280.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:11:20.585Z,1628968280.585 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T19:11:20.585Z,1628968280.585 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:11:20.585Z,1628968280.585 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T19:11:20.586Z,1628968280.586 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:11:20.586Z,1628968280.586 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T19:11:20.586Z,1628968280.586 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T19:11:20.586Z,1628968280.586 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T19:11:20.586Z,1628968280.586 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T19:11:20.587Z,1628968280.587 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T19:11:20.587Z,1628968280.587 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T19:11:20.587Z,1628968280.587 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T19:11:20.587Z,1628968280.587 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:11:20.587Z,1628968280.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T19:11:20.587Z,1628968280.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:11:20.592Z,1628968280.592 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T19:11:20.592Z,1628968280.592 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T19:11:21.013Z,1628968281.013 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T19:11:21.013Z,1628968281.013 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:11:21.823Z,1628968281.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:22.153Z,1628968282.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:22.153Z,1628968282.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:22.153Z,1628968282.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:22.154Z,1628968282.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:22.557Z,1628968282.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,002BE,187,80,80,6A,FF
2021-08-14T19:11:22.557Z,1628968282.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:22.557Z,1628968282.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:22.559Z,1628968282.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:22.965Z,1628968282.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:23.363Z,1628968283.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,002BE,185,80,80,83,FF
2021-08-14T19:11:23.364Z,1628968283.364 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:23.789Z,1628968283.789 [Micromodem](INFO): Nmea in: $SNTTA,0.027143,,,,191124.51*49

2021-08-14T19:11:24.230Z,1628968284.230 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T19:11:24.230Z,1628968284.230 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T19:11:24.230Z,1628968284.230 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T19:11:24.231Z,1628968284.231 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T19:11:24.617Z,1628968284.617 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T19:11:24.617Z,1628968284.617 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T19:11:24.624Z,1628968284.624 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T19:11:24.625Z,1628968284.625 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T19:11:24.626Z,1628968284.626 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T19:11:25.019Z,1628968285.019 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T19:11:25.019Z,1628968285.019 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T19:11:25.020Z,1628968285.020 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T19:11:25.020Z,1628968285.020 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T19:11:25.425Z,1628968285.425 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T19:11:25.425Z,1628968285.425 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T19:11:25.832Z,1628968285.832 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T19:11:25.832Z,1628968285.832 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T19:11:25.832Z,1628968285.832 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T19:11:25.833Z,1628968285.833 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T19:11:25.833Z,1628968285.833 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T19:11:26.238Z,1628968286.238 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T19:11:26.239Z,1628968286.239 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T19:11:26.239Z,1628968286.239 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T19:11:26.239Z,1628968286.239 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T19:11:26.239Z,1628968286.239 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T19:11:26.239Z,1628968286.239 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T19:11:26.244Z,1628968286.244 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T19:11:26.245Z,1628968286.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:26.604Z,1628968286.604 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:26.604Z,1628968286.604 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:26.604Z,1628968286.604 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:26.605Z,1628968286.605 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:26.997Z,1628968286.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,002BE,185,80,80,83,FF
2021-08-14T19:11:26.997Z,1628968286.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:26.998Z,1628968286.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:26.999Z,1628968286.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:27.515Z,1628968287.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:27.841Z,1628968287.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,002BF,186,80,80,57,FF
2021-08-14T19:11:27.841Z,1628968287.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:28.257Z,1628968288.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191128.95*50

2021-08-14T19:11:30.876Z,1628968290.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:31.073Z,1628968291.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:31.073Z,1628968291.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:31.073Z,1628968291.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:31.074Z,1628968291.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:31.473Z,1628968291.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,002BF,186,80,80,57,FF
2021-08-14T19:11:31.473Z,1628968291.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:31.474Z,1628968291.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:31.477Z,1628968291.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:31.891Z,1628968291.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:32.281Z,1628968292.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,002BD,186,80,80,85,FF
2021-08-14T19:11:32.281Z,1628968292.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:32.732Z,1628968292.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191133.43*51

2021-08-14T19:11:33.918Z,1628968293.918 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:11:35.145Z,1628968295.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:35.525Z,1628968295.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:35.525Z,1628968295.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:35.525Z,1628968295.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:35.526Z,1628968295.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:35.910Z,1628968295.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,002BD,186,80,80,85,FF
2021-08-14T19:11:35.911Z,1628968295.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:35.911Z,1628968295.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:35.913Z,1628968295.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:36.325Z,1628968296.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:36.728Z,1628968296.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,002BF,186,80,80,6B,FF
2021-08-14T19:11:36.730Z,1628968296.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:37.161Z,1628968297.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191137.86*5C

2021-08-14T19:11:39.539Z,1628968299.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:40.039Z,1628968300.039 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:40.039Z,1628968300.039 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:40.040Z,1628968300.040 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:40.042Z,1628968300.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:40.369Z,1628968300.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,002BF,186,80,80,6B,FF
2021-08-14T19:11:40.369Z,1628968300.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:40.369Z,1628968300.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:40.371Z,1628968300.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:40.792Z,1628968300.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:41.602Z,1628968301.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191142.32*51

2021-08-14T19:11:42.058Z,1628968302.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:44.009Z,1628968304.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,6B,FF
2021-08-14T19:11:44.009Z,1628968304.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,6B,FF
2021-08-14T19:11:44.010Z,1628968304.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:11:44.845Z,1628968304.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:45.217Z,1628968305.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:45.217Z,1628968305.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:45.217Z,1628968305.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:45.218Z,1628968305.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:45.617Z,1628968305.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,6B,FF
2021-08-14T19:11:45.617Z,1628968305.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:45.618Z,1628968305.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:45.619Z,1628968305.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:46.045Z,1628968306.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:46.426Z,1628968306.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,002C2,186,80,80,8E,FF
2021-08-14T19:11:46.426Z,1628968306.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:46.429Z,1628968306.429 [Micromodem](INFO): Nmea in: $SNTTA,0.134301,0.133926,,,191147.57*5F

2021-08-14T19:11:49.254Z,1628968309.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:49.621Z,1628968309.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:49.621Z,1628968309.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:49.621Z,1628968309.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:49.622Z,1628968309.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:50.157Z,1628968310.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,002C2,186,80,80,8E,FF
2021-08-14T19:11:50.157Z,1628968310.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:50.157Z,1628968310.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:50.159Z,1628968310.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:50.537Z,1628968310.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:50.933Z,1628968310.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,002C2,188,80,80,8B,FF
2021-08-14T19:11:50.934Z,1628968310.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:51.359Z,1628968311.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191152.11*51

2021-08-14T19:11:53.809Z,1628968313.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:54.165Z,1628968314.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:54.165Z,1628968314.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:54.165Z,1628968314.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:54.166Z,1628968314.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:54.569Z,1628968314.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,002C2,188,80,80,8B,FF
2021-08-14T19:11:54.570Z,1628968314.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:54.570Z,1628968314.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:54.571Z,1628968314.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:54.968Z,1628968314.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:55.369Z,1628968315.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,002C1,189,80,80,87,FF
2021-08-14T19:11:55.370Z,1628968315.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:11:55.829Z,1628968315.829 [Micromodem](INFO): Nmea in: $SNTTA,0.006519,,,,191156.52*47

2021-08-14T19:11:58.241Z,1628968318.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:11:58.583Z,1628968318.583 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:11:58.583Z,1628968318.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:11:58.583Z,1628968318.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:11:58.584Z,1628968318.584 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:11:59.005Z,1628968319.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,002C1,189,80,80,87,FF
2021-08-14T19:11:59.005Z,1628968319.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:11:59.005Z,1628968319.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:11:59.007Z,1628968319.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:11:59.409Z,1628968319.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:11:59.786Z,1628968319.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,002C1,189,80,80,83,FF
2021-08-14T19:11:59.786Z,1628968319.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:00.301Z,1628968320.301 [Micromodem](INFO): Nmea in: $SNTTA,0.033881,0.442598,,,191200.96*5D

2021-08-14T19:12:02.662Z,1628968322.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:03.049Z,1628968323.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:03.049Z,1628968323.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:03.049Z,1628968323.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:03.050Z,1628968323.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:03.449Z,1628968323.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,002C1,189,80,80,83,FF
2021-08-14T19:12:03.449Z,1628968323.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:03.449Z,1628968323.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:03.451Z,1628968323.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:03.857Z,1628968323.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:04.269Z,1628968324.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF6,000,002C1,187,80,80,85,FF
2021-08-14T19:12:04.269Z,1628968324.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:04.273Z,1628968324.273 [Micromodem](INFO): Nmea in: $SNTTA,0.178426,0.178657,,,191205.40*50

2021-08-14T19:12:07.129Z,1628968327.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:07.489Z,1628968327.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:07.490Z,1628968327.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:07.490Z,1628968327.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:07.491Z,1628968327.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:07.901Z,1628968327.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF6,000,002C1,187,80,80,85,FF
2021-08-14T19:12:07.902Z,1628968327.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:07.902Z,1628968327.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:07.903Z,1628968327.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:08.297Z,1628968328.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:08.669Z,1628968328.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,002C1,187,80,80,73,FF
2021-08-14T19:12:08.670Z,1628968328.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:09.141Z,1628968329.141 [Micromodem](INFO): Nmea in: $SNTTA,0.018986,,,,191209.86*42

2021-08-14T19:12:11.551Z,1628968331.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:11.933Z,1628968331.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:11.933Z,1628968331.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:11.933Z,1628968331.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:11.934Z,1628968331.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:12.348Z,1628968332.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,002C1,187,80,80,73,FF
2021-08-14T19:12:12.348Z,1628968332.348 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:12.349Z,1628968332.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:12.350Z,1628968332.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:12.757Z,1628968332.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:13.145Z,1628968333.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,002C1,189,80,80,8C,FF
2021-08-14T19:12:13.146Z,1628968333.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:13.589Z,1628968333.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191214.30*53

2021-08-14T19:12:16.058Z,1628968336.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:16.385Z,1628968336.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:16.385Z,1628968336.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:16.385Z,1628968336.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:16.386Z,1628968336.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:16.797Z,1628968336.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,002C1,189,80,80,8C,FF
2021-08-14T19:12:16.797Z,1628968336.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:16.798Z,1628968336.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:16.799Z,1628968336.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:17.193Z,1628968337.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:17.589Z,1628968337.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA2,000,002C1,189,80,80,89,FF
2021-08-14T19:12:17.589Z,1628968337.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:18.034Z,1628968338.034 [Micromodem](INFO): Nmea in: $SNTTA,0.024424,,,,191218.75*44

2021-08-14T19:12:20.540Z,1628968340.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:20.833Z,1628968340.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:20.833Z,1628968340.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:20.833Z,1628968340.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:20.834Z,1628968340.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:21.228Z,1628968341.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA2,000,002C1,189,80,80,89,FF
2021-08-14T19:12:21.228Z,1628968341.228 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:21.228Z,1628968341.228 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:21.230Z,1628968341.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:21.644Z,1628968341.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:22.079Z,1628968342.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCD,000,002C0,189,80,80,6D,FF
2021-08-14T19:12:22.080Z,1628968342.080 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:22.087Z,1628968342.087 [Micromodem](INFO): Nmea in: $SNTTA,0.330255,0.023327,,,191223.18*58

2021-08-14T19:12:24.901Z,1628968344.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:25.273Z,1628968345.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:25.273Z,1628968345.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:25.273Z,1628968345.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:25.274Z,1628968345.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:25.669Z,1628968345.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCD,000,002C0,189,80,80,6D,FF
2021-08-14T19:12:25.669Z,1628968345.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:25.669Z,1628968345.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:25.671Z,1628968345.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:26.088Z,1628968346.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:26.478Z,1628968346.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,002C0,186,80,80,69,FF
2021-08-14T19:12:26.478Z,1628968346.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:26.929Z,1628968346.929 [Micromodem](INFO): Nmea in: $SNTTA,0.034563,,,,191227.62*4D

2021-08-14T19:12:29.325Z,1628968349.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:29.683Z,1628968349.683 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:29.683Z,1628968349.683 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:29.683Z,1628968349.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:29.684Z,1628968349.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:30.085Z,1628968350.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,002C0,186,80,80,69,FF
2021-08-14T19:12:30.085Z,1628968350.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:30.085Z,1628968350.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:30.087Z,1628968350.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:30.601Z,1628968350.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:30.929Z,1628968350.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,002C0,187,80,80,73,FF
2021-08-14T19:12:30.929Z,1628968350.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:31.345Z,1628968351.345 [Micromodem](INFO): Nmea in: $SNTTA,0.022930,,,,191232.04*44

2021-08-14T19:12:33.789Z,1628968353.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:34.153Z,1628968354.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:34.153Z,1628968354.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:34.153Z,1628968354.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:34.154Z,1628968354.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:34.569Z,1628968354.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,002C0,187,80,80,73,FF
2021-08-14T19:12:34.569Z,1628968354.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:34.569Z,1628968354.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:34.571Z,1628968354.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:34.965Z,1628968354.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:35.374Z,1628968355.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,002C2,186,80,80,6A,FF
2021-08-14T19:12:35.374Z,1628968355.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:35.821Z,1628968355.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191236.52*57

2021-08-14T19:12:38.258Z,1628968358.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:38.602Z,1628968358.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:38.602Z,1628968358.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:38.602Z,1628968358.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:38.603Z,1628968358.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:38.977Z,1628968358.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,002C2,186,80,80,6A,FF
2021-08-14T19:12:38.977Z,1628968358.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:38.977Z,1628968358.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:38.979Z,1628968358.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:39.427Z,1628968359.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:39.801Z,1628968359.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,002C1,18A,80,80,71,FF
2021-08-14T19:12:39.802Z,1628968359.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:40.201Z,1628968360.201 [Micromodem](INFO): Nmea in: $SNTTA,0.042660,0.456081,,,191240.93*53

2021-08-14T19:12:42.655Z,1628968362.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:43.049Z,1628968363.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:43.049Z,1628968363.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:43.049Z,1628968363.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:43.050Z,1628968363.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:43.445Z,1628968363.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,002C1,18A,80,80,71,FF
2021-08-14T19:12:43.445Z,1628968363.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:43.445Z,1628968363.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:43.447Z,1628968363.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:43.856Z,1628968363.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:44.253Z,1628968364.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,002C1,187,80,80,73,FF
2021-08-14T19:12:44.253Z,1628968364.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:44.273Z,1628968364.273 [Micromodem](INFO): Nmea in: $SNTTA,0.221770,0.221639,,,191245.40*5C

2021-08-14T19:12:47.120Z,1628968367.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:47.490Z,1628968367.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:47.490Z,1628968367.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:47.490Z,1628968367.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:47.491Z,1628968367.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:47.901Z,1628968367.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,002C1,187,80,80,73,FF
2021-08-14T19:12:47.902Z,1628968367.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:47.902Z,1628968367.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:47.904Z,1628968367.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:48.305Z,1628968368.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:48.709Z,1628968368.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFD,000,002C0,187,80,80,74,FF
2021-08-14T19:12:48.710Z,1628968368.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:49.103Z,1628968369.103 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191249.86*56

2021-08-14T19:12:51.547Z,1628968371.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:51.938Z,1628968371.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:51.938Z,1628968371.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:51.938Z,1628968371.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:51.939Z,1628968371.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:52.333Z,1628968372.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFD,000,002C0,187,80,80,74,FF
2021-08-14T19:12:52.333Z,1628968372.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:52.333Z,1628968372.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:52.335Z,1628968372.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:52.768Z,1628968372.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:53.149Z,1628968373.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,002C1,186,80,80,70,FF
2021-08-14T19:12:53.150Z,1628968373.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:53.588Z,1628968373.588 [Micromodem](INFO): Nmea in: $SNTTA,0.028746,,,,191254.28*4F

2021-08-14T19:12:56.075Z,1628968376.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:12:56.385Z,1628968376.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:12:56.385Z,1628968376.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:12:56.385Z,1628968376.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:12:56.386Z,1628968376.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:12:56.797Z,1628968376.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,002C1,186,80,80,70,FF
2021-08-14T19:12:56.798Z,1628968376.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:12:56.798Z,1628968376.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:12:56.801Z,1628968376.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:12:57.199Z,1628968377.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:12:57.586Z,1628968377.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,002C1,18A,80,80,72,FF
2021-08-14T19:12:57.587Z,1628968377.587 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:12:58.025Z,1628968378.025 [Micromodem](INFO): Nmea in: $SNTTA,0.006408,,,,191258.75*4E

2021-08-14T19:13:00.400Z,1628968380.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:00.897Z,1628968380.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:00.897Z,1628968380.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:00.897Z,1628968380.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:00.898Z,1628968380.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:01.225Z,1628968381.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,002C1,18A,80,80,72,FF
2021-08-14T19:13:01.225Z,1628968381.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:01.225Z,1628968381.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:01.227Z,1628968381.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:01.632Z,1628968381.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:02.085Z,1628968382.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,002C1,188,80,80,6B,FF
2021-08-14T19:13:02.085Z,1628968382.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:02.472Z,1628968382.472 [Micromodem](INFO): Nmea in: $SNTTA,0.030436,,,,191303.18*42

2021-08-14T19:13:04.889Z,1628968384.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:05.261Z,1628968385.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:05.261Z,1628968385.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:05.261Z,1628968385.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:05.262Z,1628968385.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:05.669Z,1628968385.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,002C1,188,80,80,6B,FF
2021-08-14T19:13:05.669Z,1628968385.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:05.669Z,1628968385.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:05.671Z,1628968385.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:06.100Z,1628968386.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:06.486Z,1628968386.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,002C1,187,80,80,6C,FF
2021-08-14T19:13:06.486Z,1628968386.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:06.926Z,1628968386.926 [Micromodem](INFO): Nmea in: $SNTTA,0.006539,,,,191307.62*40

2021-08-14T19:13:09.298Z,1628968389.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:09.720Z,1628968389.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:09.720Z,1628968389.720 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:09.721Z,1628968389.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:09.722Z,1628968389.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:10.093Z,1628968390.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,002C1,187,80,80,6C,FF
2021-08-14T19:13:10.093Z,1628968390.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:10.093Z,1628968390.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:10.095Z,1628968390.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:10.507Z,1628968390.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:11.005Z,1628968391.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,002C1,187,80,80,78,FF
2021-08-14T19:13:11.005Z,1628968391.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:11.362Z,1628968391.362 [Micromodem](INFO): Nmea in: $SNTTA,0.005193,,,,191312.04*43

2021-08-14T19:13:13.809Z,1628968393.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:14.161Z,1628968394.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:14.161Z,1628968394.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:14.161Z,1628968394.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:14.162Z,1628968394.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:14.569Z,1628968394.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,002C1,187,80,80,78,FF
2021-08-14T19:13:14.570Z,1628968394.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:14.570Z,1628968394.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:14.572Z,1628968394.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:14.973Z,1628968394.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:15.369Z,1628968395.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,118,000,002C0,185,80,80,75,FF
2021-08-14T19:13:15.370Z,1628968395.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:15.826Z,1628968395.826 [Micromodem](INFO): Nmea in: $SNTTA,0.043293,,,,191316.52*45

2021-08-14T19:13:18.241Z,1628968398.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:18.605Z,1628968398.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:18.605Z,1628968398.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:18.605Z,1628968398.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:18.606Z,1628968398.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:19.013Z,1628968399.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
118,000,002C0,185,80,80,75,FF
2021-08-14T19:13:19.013Z,1628968399.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:19.013Z,1628968399.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:19.015Z,1628968399.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:19.393Z,1628968399.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:19.817Z,1628968399.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,002C1,186,80,80,6F,FF
2021-08-14T19:13:19.817Z,1628968399.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:20.204Z,1628968400.204 [Micromodem](INFO): Nmea in: $SNTTA,0.436393,0.436643,,,191320.97*50

2021-08-14T19:13:22.669Z,1628968402.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:23.057Z,1628968403.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:23.057Z,1628968403.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:23.057Z,1628968403.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:23.058Z,1628968403.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:23.465Z,1628968403.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,002C1,186,80,80,6F,FF
2021-08-14T19:13:23.465Z,1628968403.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:23.465Z,1628968403.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:23.467Z,1628968403.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:23.869Z,1628968403.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:24.261Z,1628968404.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,002C0,186,80,80,66,FF
2021-08-14T19:13:24.261Z,1628968404.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:24.265Z,1628968404.265 [Micromodem](INFO): Nmea in: $SNTTA,0.031680,0.209715,,,191325.42*51

2021-08-14T19:13:27.140Z,1628968407.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:27.503Z,1628968407.503 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:27.504Z,1628968407.504 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:27.504Z,1628968407.504 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:27.505Z,1628968407.505 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:27.897Z,1628968407.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,002C0,186,80,80,66,FF
2021-08-14T19:13:27.897Z,1628968407.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:27.897Z,1628968407.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:27.899Z,1628968407.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:28.305Z,1628968408.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:28.709Z,1628968408.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,002C0,186,80,80,70,FF
2021-08-14T19:13:28.709Z,1628968408.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:29.158Z,1628968409.158 [Micromodem](INFO): Nmea in: $SNTTA,0.016998,,,,191329.85*43

2021-08-14T19:13:31.570Z,1628968411.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:31.942Z,1628968411.942 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:31.942Z,1628968411.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:31.943Z,1628968411.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:31.943Z,1628968411.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:32.354Z,1628968412.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,002C0,186,80,80,70,FF
2021-08-14T19:13:32.354Z,1628968412.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:32.354Z,1628968412.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:32.377Z,1628968412.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:32.765Z,1628968412.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:33.145Z,1628968413.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37F,000,002BE,18A,80,80,53,FF
2021-08-14T19:13:33.146Z,1628968413.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:33.581Z,1628968413.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191334.33*53

2021-08-14T19:13:36.061Z,1628968416.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:36.385Z,1628968416.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:36.385Z,1628968416.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:36.385Z,1628968416.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:36.386Z,1628968416.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:36.797Z,1628968416.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37F,000,002BE,18A,80,80,53,FF
2021-08-14T19:13:36.797Z,1628968416.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:36.797Z,1628968416.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:36.799Z,1628968416.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:37.196Z,1628968417.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:37.601Z,1628968417.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,002BF,186,80,80,72,FF
2021-08-14T19:13:37.602Z,1628968417.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:38.117Z,1628968418.117 [Micromodem](INFO): Nmea in: $SNTTA,0.026319,,,,191338.75*4C

2021-08-14T19:13:38.839Z,1628968418.839 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:13:40.415Z,1628968420.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:40.801Z,1628968420.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:40.801Z,1628968420.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:40.801Z,1628968420.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:40.802Z,1628968420.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:41.390Z,1628968421.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,002BF,186,80,80,72,FF
2021-08-14T19:13:41.390Z,1628968421.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:41.390Z,1628968421.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:41.392Z,1628968421.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:41.664Z,1628968421.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:42.077Z,1628968422.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,002BC,189,80,80,48,FF
2021-08-14T19:13:42.077Z,1628968422.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:44.902Z,1628968424.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:45.269Z,1628968425.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:45.269Z,1628968425.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:45.269Z,1628968425.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:45.270Z,1628968425.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:45.673Z,1628968425.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,002BC,189,80,80,48,FF
2021-08-14T19:13:45.673Z,1628968425.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:45.673Z,1628968425.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:45.675Z,1628968425.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:46.101Z,1628968426.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:46.480Z,1628968426.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E80,000,002BF,186,80,80,63,FF
2021-08-14T19:13:46.481Z,1628968426.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:46.926Z,1628968426.926 [Micromodem](INFO): Nmea in: $SNTTA,0.057933,,,,191347.63*47

2021-08-14T19:13:49.338Z,1628968429.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:49.686Z,1628968429.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:49.687Z,1628968429.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:49.687Z,1628968429.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:49.689Z,1628968429.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:50.117Z,1628968430.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E80,000,002BF,186,80,80,63,FF
2021-08-14T19:13:50.118Z,1628968430.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:50.118Z,1628968430.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:50.120Z,1628968430.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:50.505Z,1628968430.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:50.899Z,1628968430.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,002BF,186,80,80,72,FF
2021-08-14T19:13:50.899Z,1628968430.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:51.445Z,1628968431.445 [Micromodem](INFO): Nmea in: $SNTTA,0.005155,,,,191352.07*4E

2021-08-14T19:13:53.803Z,1628968433.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:54.161Z,1628968434.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:54.161Z,1628968434.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:54.161Z,1628968434.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:54.162Z,1628968434.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:54.569Z,1628968434.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,002BF,186,80,80,72,FF
2021-08-14T19:13:54.569Z,1628968434.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:54.569Z,1628968434.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:54.571Z,1628968434.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:54.983Z,1628968434.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:55.373Z,1628968435.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,002C0,186,80,80,6B,FF
2021-08-14T19:13:55.373Z,1628968435.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:13:55.825Z,1628968435.825 [Micromodem](INFO): Nmea in: $SNTTA,0.039348,,,,191356.52*4B

2021-08-14T19:13:58.243Z,1628968438.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:13:58.605Z,1628968438.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:13:58.605Z,1628968438.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:13:58.605Z,1628968438.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:13:58.606Z,1628968438.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:13:59.021Z,1628968439.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,002C0,186,80,80,6B,FF
2021-08-14T19:13:59.021Z,1628968439.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:13:59.021Z,1628968439.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:13:59.023Z,1628968439.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:13:59.425Z,1628968439.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:13:59.787Z,1628968439.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,002BE,187,80,80,5D,FF
2021-08-14T19:13:59.787Z,1628968439.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:00.237Z,1628968440.237 [Micromodem](INFO): Nmea in: $SNTTA,0.102554,0.433291,,,191400.97*54

2021-08-14T19:14:02.667Z,1628968442.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:03.049Z,1628968443.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:03.049Z,1628968443.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:03.049Z,1628968443.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:03.050Z,1628968443.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:03.457Z,1628968443.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,002BE,187,80,80,5D,FF
2021-08-14T19:14:03.457Z,1628968443.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:03.457Z,1628968443.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:03.459Z,1628968443.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:03.860Z,1628968443.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:04.265Z,1628968444.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A8,000,002BC,189,80,80,58,FF
2021-08-14T19:14:04.265Z,1628968444.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:04.269Z,1628968444.269 [Micromodem](INFO): Nmea in: $SNTTA,0.006425,0.213054,,,191405.41*57

2021-08-14T19:14:07.133Z,1628968447.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:07.506Z,1628968447.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:07.506Z,1628968447.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:07.506Z,1628968447.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:07.507Z,1628968447.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:07.905Z,1628968447.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A8,000,002BC,189,80,80,58,FF
2021-08-14T19:14:07.905Z,1628968447.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:07.905Z,1628968447.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:07.907Z,1628968447.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:08.329Z,1628968448.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:08.701Z,1628968448.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,002BF,186,80,80,60,FF
2021-08-14T19:14:08.702Z,1628968448.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:09.157Z,1628968449.157 [Micromodem](INFO): Nmea in: $SNTTA,0.002720,,,,191409.86*4D

2021-08-14T19:14:11.635Z,1628968451.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:11.949Z,1628968451.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:11.949Z,1628968451.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:11.949Z,1628968451.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:11.950Z,1628968451.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:12.369Z,1628968452.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,002BF,186,80,80,60,FF
2021-08-14T19:14:12.369Z,1628968452.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:12.369Z,1628968452.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:12.371Z,1628968452.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:12.765Z,1628968452.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:13.169Z,1628968453.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,002BD,18A,80,80,4F,FF
2021-08-14T19:14:13.169Z,1628968453.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:16.064Z,1628968456.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:16.409Z,1628968456.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:16.409Z,1628968456.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:16.409Z,1628968456.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:16.410Z,1628968456.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:16.425Z,1628968456.425 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:14:16.793Z,1628968456.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,002BD,18A,80,80,4F,FF
2021-08-14T19:14:16.793Z,1628968456.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:16.793Z,1628968456.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:16.795Z,1628968456.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:17.215Z,1628968457.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:17.593Z,1628968457.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,002BD,189,80,80,57,FF
2021-08-14T19:14:17.593Z,1628968457.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:18.049Z,1628968458.049 [Micromodem](INFO): Nmea in: $SNTTA,0.006300,,,,191418.75*43

2021-08-14T19:14:20.514Z,1628968460.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:20.805Z,1628968460.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:20.805Z,1628968460.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:20.805Z,1628968460.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:20.806Z,1628968460.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:21.205Z,1628968461.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,002BD,189,80,80,57,FF
2021-08-14T19:14:21.205Z,1628968461.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:21.205Z,1628968461.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:21.207Z,1628968461.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:21.714Z,1628968461.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:22.078Z,1628968462.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,002BE,186,80,80,72,FF
2021-08-14T19:14:22.078Z,1628968462.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:22.465Z,1628968462.465 [Micromodem](INFO): Nmea in: $SNTTA,0.301314,,,,191423.16*4F

2021-08-14T19:14:24.896Z,1628968464.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:25.270Z,1628968465.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:25.271Z,1628968465.271 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:25.271Z,1628968465.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:25.272Z,1628968465.272 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:25.673Z,1628968465.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,002BE,186,80,80,72,FF
2021-08-14T19:14:25.673Z,1628968465.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:25.673Z,1628968465.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:25.675Z,1628968465.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:26.105Z,1628968466.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:26.482Z,1628968466.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,002BF,186,80,80,58,FF
2021-08-14T19:14:26.482Z,1628968466.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:26.929Z,1628968466.929 [Micromodem](INFO): Nmea in: $SNTTA,0.029970,,,,191427.63*48

2021-08-14T19:14:29.341Z,1628968469.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:29.715Z,1628968469.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:29.715Z,1628968469.715 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:29.715Z,1628968469.715 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:29.717Z,1628968469.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:30.085Z,1628968470.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,002BF,186,80,80,58,FF
2021-08-14T19:14:30.085Z,1628968470.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:30.086Z,1628968470.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:30.087Z,1628968470.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:30.533Z,1628968470.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:30.897Z,1628968470.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40F,000,002BC,18A,80,80,4B,FF
2021-08-14T19:14:30.898Z,1628968470.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:31.325Z,1628968471.325 [Micromodem](INFO): Nmea in: $SNTTA,0.019864,,,,191432.04*4A

2021-08-14T19:14:33.817Z,1628968473.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:34.157Z,1628968474.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:34.157Z,1628968474.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:34.157Z,1628968474.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:34.158Z,1628968474.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:34.569Z,1628968474.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40F,000,002BC,18A,80,80,4B,FF
2021-08-14T19:14:34.569Z,1628968474.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:34.569Z,1628968474.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:34.571Z,1628968474.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:34.977Z,1628968474.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:35.369Z,1628968475.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E4,000,002BC,189,80,80,6E,FF
2021-08-14T19:14:35.370Z,1628968475.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:35.821Z,1628968475.821 [Micromodem](INFO): Nmea in: $SNTTA,0.022537,,,,191436.52*4E

2021-08-14T19:14:36.421Z,1628968476.421 [CTD_Seabird](ERROR): Failed to parse device response: .16
2021-08-14T19:14:38.241Z,1628968478.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:38.601Z,1628968478.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:38.601Z,1628968478.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:38.601Z,1628968478.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:38.602Z,1628968478.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:39.005Z,1628968479.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E4,000,002BC,189,80,80,6E,FF
2021-08-14T19:14:39.005Z,1628968479.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:39.005Z,1628968479.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:39.007Z,1628968479.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:39.413Z,1628968479.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:39.821Z,1628968479.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,002BE,187,80,80,63,FF
2021-08-14T19:14:39.821Z,1628968479.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:40.197Z,1628968480.197 [Micromodem](INFO): Nmea in: $SNTTA,0.002750,0.440491,,,191440.96*54

2021-08-14T19:14:42.679Z,1628968482.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:43.045Z,1628968483.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:43.045Z,1628968483.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:43.045Z,1628968483.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:43.046Z,1628968483.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:43.465Z,1628968483.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,002BE,187,80,80,63,FF
2021-08-14T19:14:43.465Z,1628968483.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:43.465Z,1628968483.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:43.467Z,1628968483.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:43.865Z,1628968483.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:44.261Z,1628968484.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,002BE,186,80,80,62,FF
2021-08-14T19:14:44.261Z,1628968484.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:44.685Z,1628968484.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191445.42*54

2021-08-14T19:14:47.139Z,1628968487.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:47.502Z,1628968487.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:47.502Z,1628968487.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:47.502Z,1628968487.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:47.502Z,1628968487.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:47.897Z,1628968487.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,002BE,186,80,80,62,FF
2021-08-14T19:14:47.897Z,1628968487.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:47.897Z,1628968487.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:47.899Z,1628968487.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:48.309Z,1628968488.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:48.705Z,1628968488.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,432,000,002BC,189,80,80,73,FF
2021-08-14T19:14:48.706Z,1628968488.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:49.137Z,1628968489.137 [Micromodem](INFO): Nmea in: $SNTTA,0.002740,,,,191449.85*4C

2021-08-14T19:14:51.530Z,1628968491.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:52.015Z,1628968492.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:52.017Z,1628968492.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:52.017Z,1628968492.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:52.018Z,1628968492.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:52.337Z,1628968492.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
432,000,002BC,189,80,80,73,FF
2021-08-14T19:14:52.337Z,1628968492.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:52.337Z,1628968492.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:52.339Z,1628968492.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:52.756Z,1628968492.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:53.153Z,1628968493.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,002BC,187,80,80,7D,FF
2021-08-14T19:14:53.153Z,1628968493.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:14:53.585Z,1628968493.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191454.29*59

2021-08-14T19:14:56.062Z,1628968496.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:14:56.377Z,1628968496.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:14:56.377Z,1628968496.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:14:56.377Z,1628968496.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:14:56.378Z,1628968496.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:14:56.805Z,1628968496.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,002BC,187,80,80,7D,FF
2021-08-14T19:14:56.805Z,1628968496.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:14:56.805Z,1628968496.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:14:56.807Z,1628968496.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:14:57.193Z,1628968497.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:14:58.024Z,1628968498.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191458.76*5F

2021-08-14T19:14:58.805Z,1628968498.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,035B7,187,80,80,A4,FF
2021-08-14T19:14:58.805Z,1628968498.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:01.618Z,1628968501.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:02.145Z,1628968502.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:02.145Z,1628968502.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:02.145Z,1628968502.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:02.146Z,1628968502.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:02.437Z,1628968502.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,035B7,187,80,80,A4,FF
2021-08-14T19:15:02.437Z,1628968502.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:02.437Z,1628968502.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:02.439Z,1628968502.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:02.845Z,1628968502.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:03.249Z,1628968503.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,002C1,186,80,80,65,FF
2021-08-14T19:15:03.250Z,1628968503.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:03.681Z,1628968503.681 [Micromodem](INFO): Nmea in: $SNTTA,0.002844,,,,191504.39*48

2021-08-14T19:15:06.153Z,1628968506.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:06.474Z,1628968506.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:06.474Z,1628968506.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:06.475Z,1628968506.475 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:06.475Z,1628968506.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:06.881Z,1628968506.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,002C1,186,80,80,65,FF
2021-08-14T19:15:06.882Z,1628968506.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:06.882Z,1628968506.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:06.883Z,1628968506.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:07.289Z,1628968507.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:07.691Z,1628968507.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,002C0,186,80,80,77,FF
2021-08-14T19:15:07.693Z,1628968507.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:08.134Z,1628968508.134 [Micromodem](INFO): Nmea in: $SNTTA,0.117783,,,,191508.84*43

2021-08-14T19:15:10.512Z,1628968510.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:10.921Z,1628968510.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:10.921Z,1628968510.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:10.921Z,1628968510.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:10.922Z,1628968510.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:11.297Z,1628968511.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,002C0,186,80,80,77,FF
2021-08-14T19:15:11.297Z,1628968511.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:11.297Z,1628968511.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:11.299Z,1628968511.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:11.706Z,1628968511.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:12.210Z,1628968512.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,002BE,186,80,80,62,FF
2021-08-14T19:15:12.210Z,1628968512.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:12.233Z,1628968512.233 [Micromodem](INFO): Nmea in: $SNTTA,0.254659,0.253709,,,191513.25*54

2021-08-14T19:15:14.995Z,1628968514.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:15.365Z,1628968515.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:15.365Z,1628968515.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:15.365Z,1628968515.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:15.366Z,1628968515.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:15.793Z,1628968515.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,002BE,186,80,80,62,FF
2021-08-14T19:15:15.793Z,1628968515.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:15.793Z,1628968515.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:15.795Z,1628968515.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:16.177Z,1628968516.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:16.997Z,1628968516.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191517.75*56

2021-08-14T19:15:17.818Z,1628968517.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,0357F,186,80,80,6A,FF
2021-08-14T19:15:17.818Z,1628968517.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:20.613Z,1628968520.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:21.021Z,1628968521.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:21.021Z,1628968521.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:21.021Z,1628968521.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:21.022Z,1628968521.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:21.394Z,1628968521.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,0357F,186,80,80,6A,FF
2021-08-14T19:15:21.394Z,1628968521.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:21.394Z,1628968521.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:21.396Z,1628968521.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:21.818Z,1628968521.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:22.301Z,1628968522.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,002C1,186,80,80,71,FF
2021-08-14T19:15:22.302Z,1628968522.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:22.305Z,1628968522.305 [Micromodem](INFO): Nmea in: $SNTTA,0.006435,0.202425,,,191523.35*52

2021-08-14T19:15:25.108Z,1628968525.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:25.469Z,1628968525.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:25.469Z,1628968525.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:25.469Z,1628968525.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:25.470Z,1628968525.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:25.877Z,1628968525.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,002C1,186,80,80,71,FF
2021-08-14T19:15:25.878Z,1628968525.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:25.878Z,1628968525.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:25.879Z,1628968525.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:26.293Z,1628968526.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:26.694Z,1628968526.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,002BF,186,80,80,65,FF
2021-08-14T19:15:26.695Z,1628968526.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:27.121Z,1628968527.121 [Micromodem](INFO): Nmea in: $SNTTA,0.006413,,,,191527.83*42

2021-08-14T19:15:29.535Z,1628968529.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:29.913Z,1628968529.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:29.913Z,1628968529.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:29.913Z,1628968529.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:29.914Z,1628968529.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:30.329Z,1628968530.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,002BF,186,80,80,65,FF
2021-08-14T19:15:30.329Z,1628968530.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:30.329Z,1628968530.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:30.331Z,1628968530.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:30.709Z,1628968530.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:31.129Z,1628968531.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,002BF,186,80,80,6A,FF
2021-08-14T19:15:31.130Z,1628968531.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:31.535Z,1628968531.535 [Micromodem](INFO): Nmea in: $SNTTA,0.068495,,,,191532.28*41

2021-08-14T19:15:34.052Z,1628968534.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:34.365Z,1628968534.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:34.365Z,1628968534.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:34.365Z,1628968534.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:34.366Z,1628968534.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:34.785Z,1628968534.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,002BF,186,80,80,6A,FF
2021-08-14T19:15:34.785Z,1628968534.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:34.785Z,1628968534.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:34.787Z,1628968534.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:35.178Z,1628968535.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:35.569Z,1628968535.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,408,000,002BC,18A,80,80,5E,FF
2021-08-14T19:15:35.569Z,1628968535.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:36.025Z,1628968536.025 [Micromodem](INFO): Nmea in: $SNTTA,0.018360,,,,191536.74*46

2021-08-14T19:15:38.451Z,1628968538.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:38.805Z,1628968538.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:38.805Z,1628968538.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:38.805Z,1628968538.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:38.806Z,1628968538.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:39.214Z,1628968539.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
408,000,002BC,18A,80,80,5E,FF
2021-08-14T19:15:39.214Z,1628968539.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:39.214Z,1628968539.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:39.216Z,1628968539.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:39.636Z,1628968539.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:40.438Z,1628968540.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191541.17*51

2021-08-14T19:15:41.238Z,1628968541.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:42.517Z,1628968542.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,18A,80,80,5E,FF
2021-08-14T19:15:42.517Z,1628968542.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,18A,80,80,5E,FF
2021-08-14T19:15:42.518Z,1628968542.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:15:43.667Z,1628968543.667 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T19:15:43.668Z,1628968543.668 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T19:15:43.668Z,1628968543.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T19:15:43.668Z,1628968543.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:15:43.668Z,1628968543.668 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T19:15:43.669Z,1628968543.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2021-08-14T19:15:43.669Z,1628968543.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T19:15:43.669Z,1628968543.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T19:15:43.669Z,1628968543.669 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T19:15:44.152Z,1628968544.152 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T191544: (41.552319, -70.708603)
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T19:15:44.153Z,1628968544.153 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T19:15:44.154Z,1628968544.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:44.465Z,1628968544.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:44.465Z,1628968544.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:44.465Z,1628968544.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:44.466Z,1628968544.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:44.870Z,1628968544.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,18A,80,80,5E,FF
2021-08-14T19:15:44.870Z,1628968544.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:44.870Z,1628968544.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:44.877Z,1628968544.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:45.273Z,1628968545.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:45.671Z,1628968545.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,002BF,189,80,80,5F,FF
2021-08-14T19:15:45.671Z,1628968545.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:46.117Z,1628968546.117 [Micromodem](INFO): Nmea in: $SNTTA,0.028251,,,,191546.83*49

2021-08-14T19:15:48.522Z,1628968548.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:48.901Z,1628968548.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:48.901Z,1628968548.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:48.901Z,1628968548.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:48.902Z,1628968548.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:49.305Z,1628968549.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,002BF,189,80,80,5F,FF
2021-08-14T19:15:49.305Z,1628968549.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:49.306Z,1628968549.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:49.307Z,1628968549.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:49.718Z,1628968549.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:50.129Z,1628968550.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,002BE,186,80,80,61,FF
2021-08-14T19:15:50.129Z,1628968550.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:50.133Z,1628968550.133 [Micromodem](INFO): Nmea in: $SNTTA,0.290603,0.290603,,,191551.26*52

2021-08-14T19:15:52.993Z,1628968552.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:53.349Z,1628968553.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:53.349Z,1628968553.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:53.349Z,1628968553.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:53.350Z,1628968553.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:53.771Z,1628968553.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,002BE,186,80,80,61,FF
2021-08-14T19:15:53.771Z,1628968553.771 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:53.772Z,1628968553.772 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:53.773Z,1628968553.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:54.157Z,1628968554.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:54.574Z,1628968554.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,002BF,186,80,80,6C,FF
2021-08-14T19:15:54.578Z,1628968554.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:15:54.989Z,1628968554.989 [Micromodem](INFO): Nmea in: $SNTTA,0.020266,,,,191555.73*48

2021-08-14T19:15:57.393Z,1628968557.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:15:57.805Z,1628968557.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:15:57.805Z,1628968557.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:15:57.805Z,1628968557.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:15:57.806Z,1628968557.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:15:58.201Z,1628968558.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,002BF,186,80,80,6C,FF
2021-08-14T19:15:58.201Z,1628968558.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:15:58.202Z,1628968558.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:15:58.203Z,1628968558.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:15:58.604Z,1628968558.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:15:59.430Z,1628968559.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191600.16*56

2021-08-14T19:16:00.251Z,1628968560.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:01.807Z,1628968561.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,6C,FF
2021-08-14T19:16:01.807Z,1628968561.807 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,6C,FF
2021-08-14T19:16:01.808Z,1628968561.808 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:16:02.772Z,1628968562.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:03.041Z,1628968563.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:03.041Z,1628968563.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:03.041Z,1628968563.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:03.042Z,1628968563.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:03.445Z,1628968563.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,6C,FF
2021-08-14T19:16:03.445Z,1628968563.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:03.445Z,1628968563.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:03.447Z,1628968563.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:03.856Z,1628968563.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:04.253Z,1628968564.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,002BE,187,80,80,5F,FF
2021-08-14T19:16:04.253Z,1628968564.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:04.257Z,1628968564.257 [Micromodem](INFO): Nmea in: $SNTTA,0.025162,0.218859,,,191605.40*5D

2021-08-14T19:16:07.114Z,1628968567.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:07.485Z,1628968567.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:07.486Z,1628968567.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:07.486Z,1628968567.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:07.487Z,1628968567.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:07.889Z,1628968567.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,002BE,187,80,80,5F,FF
2021-08-14T19:16:07.889Z,1628968567.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:07.889Z,1628968567.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:07.891Z,1628968567.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:08.293Z,1628968568.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:08.705Z,1628968568.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,002BC,189,80,80,51,FF
2021-08-14T19:16:08.705Z,1628968568.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:09.141Z,1628968569.141 [Micromodem](INFO): Nmea in: $SNTTA,0.041210,,,,191609.84*4C

2021-08-14T19:16:11.542Z,1628968571.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:11.897Z,1628968571.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:11.897Z,1628968571.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:11.897Z,1628968571.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:11.898Z,1628968571.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:12.306Z,1628968572.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,002BC,189,80,80,51,FF
2021-08-14T19:16:12.306Z,1628968572.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:12.306Z,1628968572.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:12.308Z,1628968572.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:12.825Z,1628968572.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:13.141Z,1628968573.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,002BB,189,80,80,6E,FF
2021-08-14T19:16:13.141Z,1628968573.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:13.569Z,1628968573.569 [Micromodem](INFO): Nmea in: $SNTTA,0.077054,,,,191614.26*4F

2021-08-14T19:16:16.049Z,1628968576.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:16.369Z,1628968576.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:16.369Z,1628968576.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:16.370Z,1628968576.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:16.371Z,1628968576.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:16.793Z,1628968576.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,002BB,189,80,80,6E,FF
2021-08-14T19:16:16.793Z,1628968576.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:16.793Z,1628968576.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:16.795Z,1628968576.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:17.194Z,1628968577.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:17.594Z,1628968577.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,002BC,189,80,80,51,FF
2021-08-14T19:16:17.594Z,1628968577.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:18.033Z,1628968578.033 [Micromodem](INFO): Nmea in: $SNTTA,0.070092,,,,191618.75*48

2021-08-14T19:16:20.437Z,1628968580.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:20.817Z,1628968580.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:20.817Z,1628968580.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:20.817Z,1628968580.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:20.818Z,1628968580.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:21.193Z,1628968581.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,002BC,189,80,80,51,FF
2021-08-14T19:16:21.193Z,1628968581.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:21.193Z,1628968581.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:21.195Z,1628968581.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:21.633Z,1628968581.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:22.040Z,1628968582.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,002BA,186,80,80,73,FF
2021-08-14T19:16:22.040Z,1628968582.040 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:22.417Z,1628968582.417 [Micromodem](INFO): Nmea in: $SNTTA,0.033644,0.345229,,,191623.15*59

2021-08-14T19:16:24.894Z,1628968584.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:25.261Z,1628968585.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:25.261Z,1628968585.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:25.261Z,1628968585.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:25.262Z,1628968585.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:25.673Z,1628968585.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,002BA,186,80,80,73,FF
2021-08-14T19:16:25.674Z,1628968585.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:25.674Z,1628968585.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:25.675Z,1628968585.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:26.089Z,1628968586.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:26.474Z,1628968586.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,002BC,189,80,80,59,FF
2021-08-14T19:16:26.474Z,1628968586.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:26.520Z,1628968586.520 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T19:11:26.2Z
2021-08-14T19:16:26.520Z,1628968586.520 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T19:16:26.520Z,1628968586.520 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T19:16:26.520Z,1628968586.520 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T19:16:26.521Z,1628968586.521 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T19:16:26.882Z,1628968586.882 [Micromodem](INFO): Nmea in: $SNTTA,0.041502,,,,191627.63*4D

2021-08-14T19:16:26.911Z,1628968586.911 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.500001 m .
2021-08-14T19:16:26.911Z,1628968586.911 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T19:16:26.911Z,1628968586.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T19:16:26.911Z,1628968586.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T19:16:26.911Z,1628968586.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:16:27.673Z,1628968587.673 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:16:29.343Z,1628968589.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:29.709Z,1628968589.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:29.709Z,1628968589.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:29.709Z,1628968589.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:29.710Z,1628968589.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:30.124Z,1628968590.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,002BC,189,80,80,59,FF
2021-08-14T19:16:30.125Z,1628968590.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:30.126Z,1628968590.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:30.128Z,1628968590.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:30.552Z,1628968590.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:30.581Z,1628968590.581 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T19:16:30.917Z,1628968590.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B9,000,002BC,18A,80,80,6D,FF
2021-08-14T19:16:30.918Z,1628968590.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:30.977Z,1628968590.977 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T19:16:31.354Z,1628968591.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191632.08*58

2021-08-14T19:16:31.778Z,1628968591.778 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm.
2021-08-14T19:16:33.791Z,1628968593.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:34.149Z,1628968594.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:34.150Z,1628968594.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:34.150Z,1628968594.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:34.151Z,1628968594.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:34.565Z,1628968594.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B9,000,002BC,18A,80,80,6D,FF
2021-08-14T19:16:34.565Z,1628968594.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:34.565Z,1628968594.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:34.567Z,1628968594.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:34.985Z,1628968594.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:35.366Z,1628968595.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,002BA,186,80,80,B4,FF
2021-08-14T19:16:35.366Z,1628968595.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:35.825Z,1628968595.825 [Micromodem](INFO): Nmea in: $SNTTA,0.004982,,,,191636.52*4A

2021-08-14T19:16:38.230Z,1628968598.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:38.597Z,1628968598.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:38.597Z,1628968598.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:38.597Z,1628968598.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:38.598Z,1628968598.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:38.997Z,1628968598.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,002BA,186,80,80,B4,FF
2021-08-14T19:16:38.997Z,1628968598.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:38.997Z,1628968598.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:38.999Z,1628968598.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:39.412Z,1628968599.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:39.809Z,1628968599.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,002BA,185,80,80,BD,FF
2021-08-14T19:16:39.809Z,1628968599.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:40.241Z,1628968600.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191640.95*59

2021-08-14T19:16:41.064Z,1628968601.064 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T19:16:42.663Z,1628968602.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:43.037Z,1628968603.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:43.037Z,1628968603.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:43.037Z,1628968603.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:43.038Z,1628968603.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:43.441Z,1628968603.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,002BA,185,80,80,BD,FF
2021-08-14T19:16:43.441Z,1628968603.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:43.441Z,1628968603.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:43.443Z,1628968603.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:43.849Z,1628968603.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:44.253Z,1628968604.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,002CA,183,80,80,C6,FF
2021-08-14T19:16:44.254Z,1628968604.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:44.733Z,1628968604.733 [Micromodem](INFO): Nmea in: $SNTTA,0.018337,,,,191645.40*44

2021-08-14T19:16:47.112Z,1628968607.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:47.493Z,1628968607.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:47.494Z,1628968607.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:47.494Z,1628968607.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:47.495Z,1628968607.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:47.885Z,1628968607.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,002CA,183,80,80,C6,FF
2021-08-14T19:16:47.885Z,1628968607.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:47.885Z,1628968607.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:47.887Z,1628968607.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:48.301Z,1628968608.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:48.702Z,1628968608.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,002DE,184,80,80,CA,FF
2021-08-14T19:16:48.702Z,1628968608.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:49.129Z,1628968609.129 [Micromodem](INFO): Nmea in: $SNTTA,0.024392,,,,191649.84*40

2021-08-14T19:16:51.567Z,1628968611.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:51.925Z,1628968611.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:51.925Z,1628968611.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:51.925Z,1628968611.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:51.926Z,1628968611.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:52.334Z,1628968612.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,002DE,184,80,80,CA,FF
2021-08-14T19:16:52.334Z,1628968612.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:52.335Z,1628968612.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:52.337Z,1628968612.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:52.762Z,1628968612.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:53.153Z,1628968613.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,002F1,184,80,80,BF,FF
2021-08-14T19:16:53.154Z,1628968613.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:53.577Z,1628968613.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191654.29*5B

2021-08-14T19:16:56.064Z,1628968616.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:16:56.370Z,1628968616.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:16:56.370Z,1628968616.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:16:56.370Z,1628968616.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:16:56.371Z,1628968616.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:16:56.805Z,1628968616.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,002F1,184,80,80,BF,FF
2021-08-14T19:16:56.805Z,1628968616.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:16:56.805Z,1628968616.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:16:56.807Z,1628968616.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:16:57.195Z,1628968617.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:16:57.577Z,1628968617.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00302,184,80,80,A0,FF
2021-08-14T19:16:57.578Z,1628968617.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:16:58.033Z,1628968618.033 [Micromodem](INFO): Nmea in: $SNTTA,0.028528,,,,191658.76*46

2021-08-14T19:17:00.445Z,1628968620.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:00.813Z,1628968620.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:00.813Z,1628968620.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:00.813Z,1628968620.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:00.814Z,1628968620.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:01.221Z,1628968621.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00302,184,80,80,A0,FF
2021-08-14T19:17:01.221Z,1628968621.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:01.221Z,1628968621.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:01.223Z,1628968621.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:01.633Z,1628968621.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:02.105Z,1628968622.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00312,185,80,80,AC,FF
2021-08-14T19:17:02.105Z,1628968622.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:02.474Z,1628968622.474 [Micromodem](INFO): Nmea in: $SNTTA,0.027534,,,,191703.18*43

2021-08-14T19:17:04.896Z,1628968624.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:05.253Z,1628968625.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:05.253Z,1628968625.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:05.253Z,1628968625.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:05.254Z,1628968625.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:05.657Z,1628968625.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00312,185,80,80,AC,FF
2021-08-14T19:17:05.657Z,1628968625.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:05.657Z,1628968625.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:05.659Z,1628968625.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:06.100Z,1628968626.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:06.470Z,1628968626.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00326,184,80,80,B0,FF
2021-08-14T19:17:06.470Z,1628968626.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:06.909Z,1628968626.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191707.62*53

2021-08-14T19:17:06.962Z,1628968626.962 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T19:17:09.311Z,1628968629.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:09.697Z,1628968629.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:09.697Z,1628968629.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:09.697Z,1628968629.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:09.698Z,1628968629.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:10.129Z,1628968630.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00326,184,80,80,B0,FF
2021-08-14T19:17:10.129Z,1628968630.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:10.129Z,1628968630.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:10.131Z,1628968630.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:10.521Z,1628968630.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:10.917Z,1628968630.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00337,183,80,80,74,FF
2021-08-14T19:17:10.917Z,1628968630.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:11.349Z,1628968631.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191712.09*5A

2021-08-14T19:17:13.789Z,1628968633.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:14.146Z,1628968634.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:14.146Z,1628968634.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:14.147Z,1628968634.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:14.148Z,1628968634.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:14.553Z,1628968634.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00337,183,80,80,74,FF
2021-08-14T19:17:14.554Z,1628968634.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:14.554Z,1628968634.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:14.555Z,1628968634.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:14.965Z,1628968634.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:15.357Z,1628968635.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,0034A,187,80,80,B6,FF
2021-08-14T19:17:15.358Z,1628968635.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:15.809Z,1628968635.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191716.51*53

2021-08-14T19:17:18.231Z,1628968638.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:18.593Z,1628968638.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:18.593Z,1628968638.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:18.593Z,1628968638.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:18.594Z,1628968638.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:18.994Z,1628968638.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,0034A,187,80,80,B6,FF
2021-08-14T19:17:18.995Z,1628968638.995 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:18.995Z,1628968638.995 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:18.997Z,1628968638.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:19.414Z,1628968639.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:19.809Z,1628968639.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,0035D,186,80,80,BD,FF
2021-08-14T19:17:19.809Z,1628968639.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:20.229Z,1628968640.229 [Micromodem](INFO): Nmea in: $SNTTA,0.442614,0.442758,,,191720.95*57

2021-08-14T19:17:22.655Z,1628968642.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:23.037Z,1628968643.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:23.037Z,1628968643.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:23.037Z,1628968643.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:23.038Z,1628968643.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:23.445Z,1628968643.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,0035D,186,80,80,BD,FF
2021-08-14T19:17:23.445Z,1628968643.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:23.445Z,1628968643.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:23.447Z,1628968643.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:23.857Z,1628968643.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:24.249Z,1628968644.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00368,185,80,80,BB,FF
2021-08-14T19:17:24.249Z,1628968644.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:24.724Z,1628968644.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191725.40*53

2021-08-14T19:17:27.110Z,1628968647.110 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 14.82 m. Transitioning DDM to standby.
2021-08-14T19:17:27.111Z,1628968647.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:27.481Z,1628968647.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:27.481Z,1628968647.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:27.482Z,1628968647.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:27.483Z,1628968647.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:27.889Z,1628968647.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00368,185,80,80,BB,FF
2021-08-14T19:17:27.889Z,1628968647.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:27.889Z,1628968647.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:27.891Z,1628968647.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:28.293Z,1628968648.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:28.707Z,1628968648.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,00387,188,80,80,27,FF
2021-08-14T19:17:28.708Z,1628968648.708 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:29.129Z,1628968649.129 [Micromodem](INFO): Nmea in: $SNTTA,0.068518,,,,191729.85*4A

2021-08-14T19:17:29.561Z,1628968649.561 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-14T19:17:29.939Z,1628968649.939 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T19:17:29.956Z,1628968649.956 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T19:17:29.957Z,1628968649.957 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-14T19:17:29.958Z,1628968649.958 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T19:17:29.958Z,1628968649.958 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T19:17:29.958Z,1628968649.958 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-14T19:17:29.958Z,1628968649.958 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T19:17:29.959Z,1628968649.959 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T19:17:29.959Z,1628968649.959 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-14T19:17:29.959Z,1628968649.959 [lineCaptureDepth:Lap] Stopped
2021-08-14T19:17:29.959Z,1628968649.959 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T19:17:29.959Z,1628968649.959 [lineCaptureDepth:Lap](INFO): Running loop #3
2021-08-14T19:17:29.959Z,1628968649.959 [lineCaptureDepth:Lap] Running Loop=3
2021-08-14T19:17:29.960Z,1628968649.960 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T19:17:29.960Z,1628968649.960 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T19:17:30.341Z,1628968650.341 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T19:17:30.341Z,1628968650.341 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T19:17:30.341Z,1628968650.341 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T19:17:30.814Z,1628968650.814 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T19:17:30.814Z,1628968650.814 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T19:17:30.814Z,1628968650.814 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T19:17:30.814Z,1628968650.814 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:17:30.815Z,1628968650.815 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:17:30.816Z,1628968650.816 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:17:30.816Z,1628968650.816 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:17:30.816Z,1628968650.816 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T19:17:30.816Z,1628968650.816 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:17:30.816Z,1628968650.816 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T19:17:30.816Z,1628968650.816 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T19:17:30.817Z,1628968650.817 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T19:17:30.819Z,1628968650.819 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T19:17:30.819Z,1628968650.819 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T19:17:31.127Z,1628968651.127 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T19:17:31.127Z,1628968651.127 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T19:17:31.514Z,1628968651.514 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T19:17:31.514Z,1628968651.514 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T19:17:31.515Z,1628968651.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:31.901Z,1628968651.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:31.901Z,1628968651.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:31.901Z,1628968651.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:31.902Z,1628968651.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:31.937Z,1628968651.937 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T19:17:31.937Z,1628968651.937 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T19:17:32.301Z,1628968652.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,00387,188,80,80,27,FF
2021-08-14T19:17:32.301Z,1628968652.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:32.301Z,1628968652.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:32.303Z,1628968652.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:32.441Z,1628968652.441 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T19:17:32.441Z,1628968652.441 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T19:17:32.441Z,1628968652.441 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T19:17:32.441Z,1628968652.441 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T19:17:32.442Z,1628968652.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:17:32.442Z,1628968652.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T19:17:32.442Z,1628968652.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:17:32.442Z,1628968652.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T19:17:32.442Z,1628968652.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T19:17:32.442Z,1628968652.442 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:17:32.443Z,1628968652.443 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:17:32.443Z,1628968652.443 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:17:32.443Z,1628968652.443 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T19:17:32.443Z,1628968652.443 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:17:32.443Z,1628968652.443 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:17:32.443Z,1628968652.443 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T19:17:32.448Z,1628968652.448 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:17:32.449Z,1628968652.449 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T19:17:32.450Z,1628968652.450 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T19:17:32.450Z,1628968652.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:17:32.451Z,1628968652.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:17:32.451Z,1628968652.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T19:17:32.451Z,1628968652.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:17:32.451Z,1628968652.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:17:32.456Z,1628968652.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T19:17:32.457Z,1628968652.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:17:32.457Z,1628968652.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:17:32.457Z,1628968652.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T19:17:32.742Z,1628968652.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:32.786Z,1628968652.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T19:17:32.786Z,1628968652.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:17:32.786Z,1628968652.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T19:17:32.786Z,1628968652.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T19:17:32.787Z,1628968652.787 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T19:17:33.109Z,1628968653.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00390,187,80,80,46,FF
2021-08-14T19:17:33.110Z,1628968653.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:33.633Z,1628968653.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191734.26*53

2021-08-14T19:17:35.618Z,1628968655.618 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T19:17:36.062Z,1628968656.062 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T19:17:36.065Z,1628968656.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:36.365Z,1628968656.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:36.365Z,1628968656.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:36.365Z,1628968656.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:36.366Z,1628968656.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:36.437Z,1628968656.437 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-14T19:17:36.805Z,1628968656.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00390,187,80,80,46,FF
2021-08-14T19:17:36.805Z,1628968656.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:36.805Z,1628968656.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:36.807Z,1628968656.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:36.922Z,1628968656.922 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T19:17:37.185Z,1628968657.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:37.581Z,1628968657.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D2,000,0038D,189,80,80,71,FF
2021-08-14T19:17:37.582Z,1628968657.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:38.029Z,1628968658.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191738.76*5A

2021-08-14T19:17:40.429Z,1628968660.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:40.821Z,1628968660.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:40.821Z,1628968660.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:40.821Z,1628968660.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:40.822Z,1628968660.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:41.221Z,1628968661.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D2,000,0038D,189,80,80,71,FF
2021-08-14T19:17:41.221Z,1628968661.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:41.221Z,1628968661.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:41.223Z,1628968661.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:41.625Z,1628968661.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:42.069Z,1628968662.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47A,000,003A0,189,80,80,A6,FF
2021-08-14T19:17:42.070Z,1628968662.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:42.470Z,1628968662.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191743.18*5E

2021-08-14T19:17:44.880Z,1628968664.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:45.276Z,1628968665.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:45.277Z,1628968665.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:45.277Z,1628968665.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:45.277Z,1628968665.277 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:45.657Z,1628968665.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47A,000,003A0,189,80,80,A6,FF
2021-08-14T19:17:45.657Z,1628968665.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:45.658Z,1628968665.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:45.659Z,1628968665.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:46.089Z,1628968666.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:46.478Z,1628968666.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,494,000,003A8,189,80,80,A5,FF
2021-08-14T19:17:46.479Z,1628968666.479 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:46.909Z,1628968666.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191747.62*57

2021-08-14T19:17:49.331Z,1628968669.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:49.725Z,1628968669.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:49.725Z,1628968669.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:49.726Z,1628968669.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:49.727Z,1628968669.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:50.109Z,1628968670.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
494,000,003A8,189,80,80,A5,FF
2021-08-14T19:17:50.110Z,1628968670.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:50.110Z,1628968670.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:50.137Z,1628968670.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:50.513Z,1628968670.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:50.926Z,1628968670.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003B8,18A,80,80,A8,FF
2021-08-14T19:17:50.927Z,1628968670.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:51.345Z,1628968671.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191752.09*5E

2021-08-14T19:17:53.793Z,1628968673.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:54.154Z,1628968674.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:54.154Z,1628968674.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:54.154Z,1628968674.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:54.155Z,1628968674.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:54.553Z,1628968674.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003B8,18A,80,80,A8,FF
2021-08-14T19:17:54.553Z,1628968674.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:54.553Z,1628968674.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:54.555Z,1628968674.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:54.960Z,1628968674.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:55.354Z,1628968675.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CE,189,80,80,9E,FF
2021-08-14T19:17:55.354Z,1628968675.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:55.814Z,1628968675.814 [Micromodem](INFO): Nmea in: $SNTTA,0.038494,,,,191756.51*4B

2021-08-14T19:17:57.014Z,1628968677.014 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 20.94 m. Transitioning DDM to standby.
2021-08-14T19:17:58.244Z,1628968678.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:17:58.585Z,1628968678.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:17:58.585Z,1628968678.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:17:58.585Z,1628968678.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:17:58.586Z,1628968678.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:17:58.993Z,1628968678.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CE,189,80,80,9E,FF
2021-08-14T19:17:58.993Z,1628968678.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:17:58.993Z,1628968678.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:17:58.995Z,1628968678.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:17:58.999Z,1628968678.999 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:17:59.409Z,1628968679.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:17:59.833Z,1628968679.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003D2,189,80,80,A3,FF
2021-08-14T19:17:59.834Z,1628968679.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:17:59.894Z,1628968679.894 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T19:18:00.242Z,1628968680.242 [Micromodem](INFO): Nmea in: $SNTTA,,0.405165,,,191800.95*4E

2021-08-14T19:18:00.275Z,1628968680.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T19:18:00.275Z,1628968680.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T19:18:00.276Z,1628968680.276 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T19:18:00.621Z,1628968680.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T19:18:00.621Z,1628968680.621 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T19:18:00.622Z,1628968680.622 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T19:18:01.050Z,1628968681.050 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T19:18:01.051Z,1628968681.051 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:18:01.051Z,1628968681.051 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T19:18:01.051Z,1628968681.051 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:18:01.051Z,1628968681.051 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:18:01.417Z,1628968681.417 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T19:18:01.418Z,1628968681.418 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T19:18:01.419Z,1628968681.419 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T19:18:01.420Z,1628968681.420 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:18:01.420Z,1628968681.420 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T19:18:01.421Z,1628968681.421 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 21.179998 m 
2021-08-14T19:18:01.421Z,1628968681.421 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T19:18:01.421Z,1628968681.421 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T19:18:01.422Z,1628968681.422 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T19:18:01.422Z,1628968681.422 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T19:18:01.422Z,1628968681.422 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T19:18:01.422Z,1628968681.422 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T19:18:01.833Z,1628968681.833 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-14T19:18:01.841Z,1628968681.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T19:18:01.841Z,1628968681.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:18:01.841Z,1628968681.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:18:01.842Z,1628968681.842 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T19:18:02.258Z,1628968682.258 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T19:18:02.258Z,1628968682.258 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:18:02.259Z,1628968682.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T19:18:02.259Z,1628968682.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:18:02.259Z,1628968682.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T19:18:02.260Z,1628968682.260 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T19:18:02.260Z,1628968682.260 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T19:18:02.260Z,1628968682.260 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T19:18:02.261Z,1628968682.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:18:02.261Z,1628968682.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:18:02.261Z,1628968682.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T19:18:02.261Z,1628968682.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:18:02.261Z,1628968682.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:18:02.261Z,1628968682.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T19:18:02.262Z,1628968682.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:18:02.262Z,1628968682.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:18:02.262Z,1628968682.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T19:18:02.263Z,1628968682.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T19:18:02.263Z,1628968682.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T19:18:02.263Z,1628968682.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T19:18:02.263Z,1628968682.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T19:18:02.263Z,1628968682.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T19:18:02.264Z,1628968682.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:18:02.264Z,1628968682.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T19:18:02.265Z,1628968682.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T19:18:02.265Z,1628968682.265 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T19:18:02.265Z,1628968682.265 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:18:02.265Z,1628968682.265 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T19:18:02.265Z,1628968682.265 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:18:02.266Z,1628968682.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T19:18:02.266Z,1628968682.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T19:18:02.266Z,1628968682.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T19:18:02.266Z,1628968682.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T19:18:02.266Z,1628968682.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T19:18:02.626Z,1628968682.626 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T19:18:02.626Z,1628968682.626 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:18:02.626Z,1628968682.626 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T19:18:02.626Z,1628968682.626 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:18:02.629Z,1628968682.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 36.898304 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T19:18:02.629Z,1628968682.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.18 m.
2021-08-14T19:18:02.630Z,1628968682.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 36.898304deg and heading rate command to 0 deg/s.
2021-08-14T19:18:02.635Z,1628968682.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:03.005Z,1628968683.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:03.005Z,1628968683.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:03.005Z,1628968683.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:03.006Z,1628968683.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:03.015Z,1628968683.015 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:18:03.517Z,1628968683.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003D2,189,80,80,A3,FF
2021-08-14T19:18:03.517Z,1628968683.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:03.518Z,1628968683.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:03.519Z,1628968683.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:03.947Z,1628968683.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:04.349Z,1628968684.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003DD,189,80,80,6A,FF
2021-08-14T19:18:04.349Z,1628968684.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:04.439Z,1628968684.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:04.849Z,1628968684.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191805.47*59

2021-08-14T19:18:04.903Z,1628968684.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 38.800614 deg, deltaT: 4.536757 s, approachRate: 0.145479 m/s, LOS rate: 0.419311 deg/s, posRepo size: 2
2021-08-14T19:18:04.903Z,1628968684.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.84 m.
2021-08-14T19:18:04.909Z,1628968684.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.840002 m,
      bearing: 38.800614 deg,
      approachRate: 0.145479 m/s,
      LOS rate: 0.419311 deg/s,
      cmd update: 1.677242 deg/s,
      cmd heading: 36.898304 deg,
      new cmd heading: 36.898304 deg.

2021-08-14T19:18:07.165Z,1628968687.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:07.549Z,1628968687.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:07.549Z,1628968687.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:07.550Z,1628968687.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:07.551Z,1628968687.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:07.961Z,1628968687.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003DD,189,80,80,6A,FF
2021-08-14T19:18:07.961Z,1628968687.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:07.961Z,1628968687.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:07.963Z,1628968687.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:08.364Z,1628968688.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:08.789Z,1628968688.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EC,189,80,80,7A,FF
2021-08-14T19:18:08.789Z,1628968688.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:08.886Z,1628968688.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:09.183Z,1628968689.183 [Micromodem](INFO): Nmea in: $SNTTA,0.017796,,,,191809.93*4C

2021-08-14T19:18:09.209Z,1628968689.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 40.715710 deg, deltaT: 4.447350 s, approachRate: 0.202367 m/s, LOS rate: 0.430615 deg/s, posRepo size: 3
2021-08-14T19:18:09.209Z,1628968689.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.74 m.
2021-08-14T19:18:09.211Z,1628968689.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.740000 m,
      bearing: 40.715710 deg,
      approachRate: 0.202367 m/s,
      LOS rate: 0.430615 deg/s,
      cmd update: 1.722461 deg/s,
      cmd heading: 44.358537 deg,
      new cmd heading: 44.911280 deg.

2021-08-14T19:18:11.615Z,1628968691.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:11.991Z,1628968691.991 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:11.992Z,1628968691.992 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:11.993Z,1628968691.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:11.994Z,1628968691.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:12.409Z,1628968692.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003EC,189,80,80,7A,FF
2021-08-14T19:18:12.409Z,1628968692.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:12.409Z,1628968692.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:12.411Z,1628968692.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:12.809Z,1628968692.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:13.202Z,1628968693.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003E3,18A,80,80,63,FF
2021-08-14T19:18:13.202Z,1628968693.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:13.247Z,1628968693.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:13.626Z,1628968693.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191814.37*5E

2021-08-14T19:18:13.642Z,1628968693.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 34.729808 deg, deltaT: 4.360915 s, approachRate: -0.123827 m/s, LOS rate: -1.372625 deg/s, posRepo size: 4
2021-08-14T19:18:13.643Z,1628968693.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.20 m.
2021-08-14T19:18:13.645Z,1628968693.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.199999 m,
      bearing: 34.729808 deg,
      approachRate: -0.123827 m/s,
      LOS rate: -1.372625 deg/s,
      cmd update: -5.490501 deg/s,
      cmd heading: 51.870032 deg,
      new cmd heading: 52.563578 deg.

2021-08-14T19:18:16.180Z,1628968696.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:16.437Z,1628968696.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:16.437Z,1628968696.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:16.437Z,1628968696.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:16.438Z,1628968696.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:16.861Z,1628968696.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003E3,18A,80,80,63,FF
2021-08-14T19:18:16.861Z,1628968696.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:16.862Z,1628968696.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:16.863Z,1628968696.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:17.244Z,1628968697.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:17.645Z,1628968697.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,454,000,003D8,189,80,80,7B,FF
2021-08-14T19:18:17.646Z,1628968697.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:17.666Z,1628968697.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:18.093Z,1628968698.093 [Micromodem](INFO): Nmea in: $SNTTA,0.035216,,,,191818.82*41

2021-08-14T19:18:18.164Z,1628968698.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 30.902563 deg, deltaT: 4.418608 s, approachRate: -0.149367 m/s, LOS rate: -0.866165 deg/s, posRepo size: 4
2021-08-14T19:18:18.165Z,1628968698.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.54 m.
2021-08-14T19:18:18.165Z,1628968698.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 21.54 m.
2021-08-14T19:18:18.165Z,1628968698.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T19:18:18.167Z,1628968698.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.540003 m,
      bearing: 30.902563 deg,
      approachRate: -0.149367 m/s,
      LOS rate: -0.866165 deg/s,
      cmd update: -3.464661 deg/s,
      cmd heading: 27.586621 deg,
      new cmd heading: 24.832822 deg.

2021-08-14T19:18:20.099Z,1628968700.099 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:18:20.516Z,1628968700.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:20.879Z,1628968700.879 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:20.879Z,1628968700.879 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:20.879Z,1628968700.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:20.881Z,1628968700.881 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:21.277Z,1628968701.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
454,000,003D8,189,80,80,7B,FF
2021-08-14T19:18:21.277Z,1628968701.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:21.277Z,1628968701.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:21.279Z,1628968701.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:21.685Z,1628968701.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:22.085Z,1628968702.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,003D2,188,80,80,BD,FF
2021-08-14T19:18:22.086Z,1628968702.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:22.170Z,1628968702.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:22.525Z,1628968702.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191823.23*5F

2021-08-14T19:18:22.556Z,1628968702.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 36.604562 deg, deltaT: 4.504674 s, approachRate: -0.079918 m/s, LOS rate: 1.265796 deg/s, posRepo size: 4
2021-08-14T19:18:22.558Z,1628968702.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.179998 m,
      bearing: 36.604562 deg,
      approachRate: -0.079918 m/s,
      LOS rate: 1.265796 deg/s,
      cmd update: 5.063185 deg/s,
      cmd heading: 11.993351 deg,
      new cmd heading: 10.632186 deg.

2021-08-14T19:18:24.134Z,1628968704.134 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T19:18:24.961Z,1628968704.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:25.317Z,1628968705.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:25.317Z,1628968705.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:25.317Z,1628968705.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:25.318Z,1628968705.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:25.781Z,1628968705.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,003D2,188,80,80,BD,FF
2021-08-14T19:18:25.781Z,1628968705.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:25.781Z,1628968705.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:25.783Z,1628968705.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:26.161Z,1628968706.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:26.549Z,1628968706.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,003A9,186,80,80,57,FF
2021-08-14T19:18:26.550Z,1628968706.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:26.569Z,1628968706.569 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:26.985Z,1628968706.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191827.74*59

2021-08-14T19:18:27.035Z,1628968707.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 34.334067 deg, deltaT: 4.399109 s, approachRate: -0.559204 m/s, LOS rate: -0.516126 deg/s, posRepo size: 4
2021-08-14T19:18:27.042Z,1628968707.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 34.334067 deg,
      approachRate: -0.559204 m/s,
      LOS rate: -0.516126 deg/s,
      cmd update: -2.064504 deg/s,
      cmd heading: 34.287232 deg,
      new cmd heading: 36.661789 deg.

2021-08-14T19:18:29.396Z,1628968709.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:29.797Z,1628968709.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:29.797Z,1628968709.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:29.798Z,1628968709.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:29.798Z,1628968709.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:30.193Z,1628968710.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,003A9,186,80,80,57,FF
2021-08-14T19:18:30.193Z,1628968710.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:30.193Z,1628968710.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:30.195Z,1628968710.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:30.592Z,1628968710.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:31.019Z,1628968711.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,0038D,187,80,80,80,FF
2021-08-14T19:18:31.019Z,1628968711.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:31.070Z,1628968711.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:31.437Z,1628968711.437 [Micromodem](INFO): Nmea in: $SNTTA,0.037991,,,,191832.15*41

2021-08-14T19:18:31.480Z,1628968711.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 31.562878 deg, deltaT: 4.500425 s, approachRate: -0.373298 m/s, LOS rate: -0.615762 deg/s, posRepo size: 4
2021-08-14T19:18:31.483Z,1628968711.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 31.562878 deg,
      approachRate: -0.373298 m/s,
      LOS rate: -0.615762 deg/s,
      cmd update: -2.463046 deg/s,
      cmd heading: 24.996139 deg,
      new cmd heading: 24.144248 deg.

2021-08-14T19:18:33.865Z,1628968713.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:34.225Z,1628968714.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:34.225Z,1628968714.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:34.225Z,1628968714.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:34.226Z,1628968714.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:34.638Z,1628968714.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,0038D,187,80,80,80,FF
2021-08-14T19:18:34.638Z,1628968714.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:34.638Z,1628968714.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:34.640Z,1628968714.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:35.036Z,1628968715.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:35.053Z,1628968715.053 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:18:35.453Z,1628968715.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00377,184,80,80,5D,FF
2021-08-14T19:18:35.454Z,1628968715.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:35.535Z,1628968715.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:35.881Z,1628968715.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191836.60*5C

2021-08-14T19:18:35.907Z,1628968715.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 26.482286 deg, deltaT: 4.465819 s, approachRate: -0.295578 m/s, LOS rate: -1.137662 deg/s, posRepo size: 4
2021-08-14T19:18:35.910Z,1628968715.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 26.482286 deg,
      approachRate: -0.295578 m/s,
      LOS rate: -1.137662 deg/s,
      cmd update: -4.550647 deg/s,
      cmd heading: 13.996989 deg,
      new cmd heading: 13.074825 deg.

2021-08-14T19:18:36.441Z,1628968716.441 [CTD_Seabird](ERROR): Failed to parse device response: .35
2021-08-14T19:18:38.314Z,1628968718.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:38.669Z,1628968718.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:38.669Z,1628968718.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:38.669Z,1628968718.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:38.670Z,1628968718.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:39.081Z,1628968719.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00377,184,80,80,5D,FF
2021-08-14T19:18:39.082Z,1628968719.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:39.082Z,1628968719.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:39.083Z,1628968719.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:39.483Z,1628968719.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:39.881Z,1628968719.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9A,000,00347,186,80,80,73,FF
2021-08-14T19:18:39.881Z,1628968719.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:39.915Z,1628968719.915 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:18:39.932Z,1628968719.932 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:40.329Z,1628968720.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191841.04*5E

2021-08-14T19:18:40.398Z,1628968720.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 30.121274 deg, deltaT: 4.396249 s, approachRate: -0.655104 m/s, LOS rate: 0.827748 deg/s, posRepo size: 4
2021-08-14T19:18:40.400Z,1628968720.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 30.121274 deg,
      approachRate: -0.655104 m/s,
      LOS rate: 0.827748 deg/s,
      cmd update: 3.310994 deg/s,
      cmd heading: 353.992148 deg,
      new cmd heading: 351.855442 deg.

2021-08-14T19:18:42.773Z,1628968722.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:43.117Z,1628968723.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:43.117Z,1628968723.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:43.117Z,1628968723.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:43.118Z,1628968723.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:43.537Z,1628968723.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9A,000,00347,186,80,80,73,FF
2021-08-14T19:18:43.537Z,1628968723.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:43.537Z,1628968723.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:43.539Z,1628968723.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:43.928Z,1628968723.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:44.322Z,1628968724.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D85,000,00328,18A,80,80,C3,FF
2021-08-14T19:18:44.322Z,1628968724.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:44.382Z,1628968724.382 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T19:18:44.398Z,1628968724.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:44.777Z,1628968724.777 [Micromodem](INFO): Nmea in: $SNTTA,0.043562,,,,191845.50*43

2021-08-14T19:18:44.783Z,1628968724.783 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:18:44.818Z,1628968724.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 28.679503 deg, deltaT: 4.466074 s, approachRate: -0.416473 m/s, LOS rate: -0.322827 deg/s, posRepo size: 4
2021-08-14T19:18:44.824Z,1628968724.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 28.679503 deg,
      approachRate: -0.416473 m/s,
      LOS rate: -0.322827 deg/s,
      cmd update: -1.291309 deg/s,
      cmd heading: 8.780407 deg,
      new cmd heading: 10.161552 deg.

2021-08-14T19:18:47.180Z,1628968727.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:47.565Z,1628968727.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:47.565Z,1628968727.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:47.565Z,1628968727.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:47.566Z,1628968727.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:47.969Z,1628968727.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D85,000,00328,18A,80,80,C3,FF
2021-08-14T19:18:47.969Z,1628968727.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:47.970Z,1628968727.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:47.996Z,1628968727.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:48.377Z,1628968728.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:48.801Z,1628968728.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,00315,189,80,80,B1,FF
2021-08-14T19:18:48.801Z,1628968728.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:48.868Z,1628968728.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:49.201Z,1628968729.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191849.95*5E

2021-08-14T19:18:49.223Z,1628968729.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 40.562359 deg, deltaT: 4.470436 s, approachRate: -0.255009 m/s, LOS rate: 2.658098 deg/s, posRepo size: 4
2021-08-14T19:18:49.226Z,1628968729.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 40.562359 deg,
      approachRate: -0.255009 m/s,
      LOS rate: 2.658098 deg/s,
      cmd update: 10.632391 deg/s,
      cmd heading: 3.018255 deg,
      new cmd heading: 2.545275 deg.

2021-08-14T19:18:51.624Z,1628968731.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:52.045Z,1628968732.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:52.045Z,1628968732.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:52.045Z,1628968732.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:52.046Z,1628968732.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:52.409Z,1628968732.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,00315,189,80,80,B1,FF
2021-08-14T19:18:52.409Z,1628968732.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:52.409Z,1628968732.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:52.411Z,1628968732.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:52.833Z,1628968732.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:53.654Z,1628968733.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191854.37*5A

2021-08-14T19:18:54.135Z,1628968734.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:56.081Z,1628968736.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,B1,FF
2021-08-14T19:18:56.081Z,1628968736.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,B1,FF
2021-08-14T19:18:56.081Z,1628968736.081 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:18:56.901Z,1628968736.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:18:57.253Z,1628968737.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:18:57.253Z,1628968737.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:18:57.253Z,1628968737.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:18:57.254Z,1628968737.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:18:57.670Z,1628968737.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,B1,FF
2021-08-14T19:18:57.670Z,1628968737.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:18:57.670Z,1628968737.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:18:57.673Z,1628968737.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:18:58.092Z,1628968738.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:18:58.470Z,1628968738.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5E,000,002EA,189,80,80,7A,FF
2021-08-14T19:18:58.471Z,1628968738.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:18:58.531Z,1628968738.531 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:18:58.909Z,1628968738.909 [Micromodem](INFO): Nmea in: $SNTTA,,0.036410,,,191859.63*48

2021-08-14T19:18:58.947Z,1628968738.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 68.053136 deg, deltaT: 9.662169 s, approachRate: -0.267021 m/s, LOS rate: 2.845197 deg/s, posRepo size: 4
2021-08-14T19:18:58.949Z,1628968738.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 68.053136 deg,
      approachRate: -0.267021 m/s,
      LOS rate: 2.845197 deg/s,
      cmd update: 11.380789 deg/s,
      cmd heading: 105.794782 deg,
      new cmd heading: 110.298376 deg.

2021-08-14T19:19:00.925Z,1628968740.925 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T19:19:01.327Z,1628968741.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:01.705Z,1628968741.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:01.706Z,1628968741.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:01.706Z,1628968741.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:01.707Z,1628968741.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:02.105Z,1628968742.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5E,000,002EA,189,80,80,7A,FF
2021-08-14T19:19:02.105Z,1628968742.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:02.106Z,1628968742.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:02.107Z,1628968742.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:02.530Z,1628968742.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:02.909Z,1628968742.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,002DA,187,80,80,72,FF
2021-08-14T19:19:02.910Z,1628968742.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:02.970Z,1628968742.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:03.358Z,1628968743.358 [Micromodem](INFO): Nmea in: $SNTTA,0.006493,,,,191904.06*4A

2021-08-14T19:19:03.390Z,1628968743.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 74.729687 deg, deltaT: 4.439388 s, approachRate: -0.216246 m/s, LOS rate: 1.503935 deg/s, posRepo size: 4
2021-08-14T19:19:03.393Z,1628968743.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 74.729687 deg,
      approachRate: -0.216246 m/s,
      LOS rate: 1.503935 deg/s,
      cmd update: 6.015740 deg/s,
      cmd heading: 156.273077 deg,
      new cmd heading: 161.182988 deg.

2021-08-14T19:19:05.832Z,1628968745.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:06.149Z,1628968746.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:06.149Z,1628968746.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:06.149Z,1628968746.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:06.150Z,1628968746.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:06.549Z,1628968746.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,002DA,187,80,80,72,FF
2021-08-14T19:19:06.549Z,1628968746.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:06.549Z,1628968746.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:06.553Z,1628968746.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:06.967Z,1628968746.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:06.989Z,1628968746.989 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T19:19:07.354Z,1628968747.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,002C7,186,80,80,4C,FF
2021-08-14T19:19:07.354Z,1628968747.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:07.415Z,1628968747.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:07.809Z,1628968747.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191908.51*52

2021-08-14T19:19:07.860Z,1628968747.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 82.797431 deg, deltaT: 4.449815 s, approachRate: -0.256191 m/s, LOS rate: 1.813052 deg/s, posRepo size: 4
2021-08-14T19:19:07.862Z,1628968747.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 82.797431 deg,
      approachRate: -0.256191 m/s,
      LOS rate: 1.813052 deg/s,
      cmd update: 7.252207 deg/s,
      cmd heading: 182.850983 deg,
      new cmd heading: 185.636330 deg.

2021-08-14T19:19:10.219Z,1628968750.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:10.602Z,1628968750.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:10.602Z,1628968750.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:10.602Z,1628968750.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:10.603Z,1628968750.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:11.001Z,1628968751.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,002C7,186,80,80,4C,FF
2021-08-14T19:19:11.001Z,1628968751.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:11.001Z,1628968751.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:11.003Z,1628968751.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:11.405Z,1628968751.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:11.797Z,1628968751.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCC,000,002B5,18A,80,80,62,FF
2021-08-14T19:19:11.797Z,1628968751.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:11.868Z,1628968751.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:12.219Z,1628968752.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191913.00*5C

2021-08-14T19:19:12.305Z,1628968752.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 119.986753 deg, deltaT: 4.448282 s, approachRate: -0.242790 m/s, LOS rate: 8.360379 deg/s, posRepo size: 4
2021-08-14T19:19:12.307Z,1628968752.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 119.986753 deg,
      approachRate: -0.242790 m/s,
      LOS rate: 8.360379 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 215.378676 deg,
      new cmd heading: 218.585471 deg.

2021-08-14T19:19:14.643Z,1628968754.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:15.044Z,1628968755.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:15.044Z,1628968755.044 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:15.044Z,1628968755.044 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:15.045Z,1628968755.045 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:15.429Z,1628968755.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCC,000,002B5,18A,80,80,62,FF
2021-08-14T19:19:15.429Z,1628968755.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:15.430Z,1628968755.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:15.431Z,1628968755.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:15.841Z,1628968755.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:16.249Z,1628968756.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,002B2,186,80,80,84,FF
2021-08-14T19:19:16.249Z,1628968756.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:16.355Z,1628968756.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:16.685Z,1628968756.685 [Micromodem](INFO): Nmea in: $SNTTA,0.044536,,,,191917.39*4C

2021-08-14T19:19:16.765Z,1628968756.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.899999 m, bearing: 104.172338 deg, deltaT: 4.486903 s, approachRate: -0.040117 m/s, LOS rate: -3.524572 deg/s, posRepo size: 4
2021-08-14T19:19:16.767Z,1628968756.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 104.172338 deg,
      approachRate: -0.040117 m/s,
      LOS rate: -3.524572 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 269.098621 deg,
      new cmd heading: 274.212373 deg.

2021-08-14T19:19:19.103Z,1628968759.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:19.477Z,1628968759.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:19.478Z,1628968759.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:19.478Z,1628968759.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:19.479Z,1628968759.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:19.881Z,1628968759.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,002B2,186,80,80,84,FF
2021-08-14T19:19:19.881Z,1628968759.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:19.881Z,1628968759.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:19.883Z,1628968759.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:20.288Z,1628968760.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:20.702Z,1628968760.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,002B5,185,80,80,D9,FF
2021-08-14T19:19:20.703Z,1628968760.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:20.781Z,1628968760.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:21.133Z,1628968761.133 [Micromodem](INFO): Nmea in: $SNTTA,0.038597,,,,191921.84*4F

2021-08-14T19:19:21.141Z,1628968761.141 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:19:21.194Z,1628968761.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 128.390822 deg, deltaT: 4.425708 s, approachRate: 0.040672 m/s, LOS rate: 5.472228 deg/s, posRepo size: 4
2021-08-14T19:19:21.202Z,1628968761.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 128.390822 deg,
      approachRate: 0.040672 m/s,
      LOS rate: 5.472228 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 215.880875 deg,
      new cmd heading: 210.899111 deg.

2021-08-14T19:19:23.550Z,1628968763.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:23.925Z,1628968763.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:23.925Z,1628968763.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:23.925Z,1628968763.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:23.926Z,1628968763.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:24.325Z,1628968764.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,002B5,185,80,80,D9,FF
2021-08-14T19:19:24.325Z,1628968764.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:24.325Z,1628968764.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:24.327Z,1628968764.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:24.775Z,1628968764.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:25.141Z,1628968765.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,002B6,186,80,80,D7,FF
2021-08-14T19:19:25.142Z,1628968765.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:25.208Z,1628968765.208 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:25.569Z,1628968765.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191926.28*50

2021-08-14T19:19:25.609Z,1628968765.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 154.454865 deg, deltaT: 4.427313 s, approachRate: 0.013552 m/s, LOS rate: 5.887102 deg/s, posRepo size: 4
2021-08-14T19:19:25.611Z,1628968765.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 154.454865 deg,
      approachRate: 0.013552 m/s,
      LOS rate: 5.887102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 269.053104 deg,
      new cmd heading: 273.904164 deg.

2021-08-14T19:19:28.066Z,1628968768.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:28.371Z,1628968768.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:28.371Z,1628968768.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:28.371Z,1628968768.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:28.372Z,1628968768.372 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:28.789Z,1628968768.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,002B6,186,80,80,D7,FF
2021-08-14T19:19:28.789Z,1628968768.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:28.789Z,1628968768.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:28.791Z,1628968768.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:29.185Z,1628968769.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:29.577Z,1628968769.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,002B6,184,80,80,D8,FF
2021-08-14T19:19:29.578Z,1628968769.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:29.619Z,1628968769.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:30.037Z,1628968770.037 [Micromodem](INFO): Nmea in: $SNTTA,0.042556,,,,191930.75*41

2021-08-14T19:19:30.085Z,1628968770.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 172.266291 deg, deltaT: 4.411074 s, approachRate: 0.000000 m/s, LOS rate: 4.037889 deg/s, posRepo size: 4
2021-08-14T19:19:30.086Z,1628968770.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.14 m.
2021-08-14T19:19:30.087Z,1628968770.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 172.266291 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.037889 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.939698 deg,
      new cmd heading: 327.615698 deg.

2021-08-14T19:19:32.434Z,1628968772.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:32.820Z,1628968772.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:32.820Z,1628968772.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:32.821Z,1628968772.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:32.821Z,1628968772.821 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:33.213Z,1628968773.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,002B6,184,80,80,D8,FF
2021-08-14T19:19:33.213Z,1628968773.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:33.213Z,1628968773.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:33.215Z,1628968773.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:33.629Z,1628968773.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:34.065Z,1628968774.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,002B5,187,80,80,C8,FF
2021-08-14T19:19:34.065Z,1628968774.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:34.139Z,1628968774.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:34.462Z,1628968774.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191935.17*5E

2021-08-14T19:19:34.484Z,1628968774.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 186.906064 deg, deltaT: 4.536570 s, approachRate: -0.013226 m/s, LOS rate: 3.227058 deg/s, posRepo size: 4
2021-08-14T19:19:34.487Z,1628968774.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 186.906064 deg,
      approachRate: -0.013226 m/s,
      LOS rate: 3.227058 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.233675 deg,
      new cmd heading: 20.394123 deg.

2021-08-14T19:19:35.241Z,1628968775.241 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:19:36.896Z,1628968776.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:37.257Z,1628968777.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:37.257Z,1628968777.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:37.257Z,1628968777.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:37.258Z,1628968777.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:37.661Z,1628968777.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,002B5,187,80,80,C8,FF
2021-08-14T19:19:37.661Z,1628968777.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:37.662Z,1628968777.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:37.663Z,1628968777.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:38.085Z,1628968778.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:38.465Z,1628968778.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,002B9,183,80,80,C8,FF
2021-08-14T19:19:38.466Z,1628968778.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:38.496Z,1628968778.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:38.913Z,1628968778.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 198.721458 deg, deltaT: 4.340619 s, approachRate: 0.055291 m/s, LOS rate: 2.722053 deg/s, posRepo size: 4
2021-08-14T19:19:38.915Z,1628968778.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 198.721458 deg,
      approachRate: 0.055291 m/s,
      LOS rate: 2.722053 deg/s,
      cmd update: 10.888211 deg/s,
      cmd heading: 68.478868 deg,
      new cmd heading: 73.553513 deg.

2021-08-14T19:19:41.315Z,1628968781.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:41.697Z,1628968781.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:41.697Z,1628968781.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:41.697Z,1628968781.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:41.698Z,1628968781.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:42.101Z,1628968782.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,002B9,183,80,80,C8,FF
2021-08-14T19:19:42.101Z,1628968782.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:42.101Z,1628968782.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:42.103Z,1628968782.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:42.518Z,1628968782.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:42.909Z,1628968782.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,002B9,183,80,80,CB,FF
2021-08-14T19:19:42.910Z,1628968782.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:42.963Z,1628968782.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:43.355Z,1628968783.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 213.812037 deg, deltaT: 4.466393 s, approachRate: 0.000000 m/s, LOS rate: 3.378695 deg/s, posRepo size: 4
2021-08-14T19:19:43.358Z,1628968783.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 213.812037 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.378695 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 117.140995 deg,
      new cmd heading: 121.453957 deg.

2021-08-14T19:19:45.803Z,1628968785.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:46.141Z,1628968786.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:46.141Z,1628968786.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:46.141Z,1628968786.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:46.142Z,1628968786.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:46.549Z,1628968786.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,002B9,183,80,80,CB,FF
2021-08-14T19:19:46.549Z,1628968786.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:46.549Z,1628968786.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:46.551Z,1628968786.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:46.970Z,1628968786.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:47.354Z,1628968787.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,002B9,185,80,80,C4,FF
2021-08-14T19:19:47.354Z,1628968787.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:47.375Z,1628968787.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:47.817Z,1628968787.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191948.51*56

2021-08-14T19:19:47.843Z,1628968787.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 226.376293 deg, deltaT: 4.411957 s, approachRate: 0.000000 m/s, LOS rate: 2.847774 deg/s, posRepo size: 4
2021-08-14T19:19:47.845Z,1628968787.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 226.376293 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.847774 deg/s,
      cmd update: 11.391096 deg/s,
      cmd heading: 170.086677 deg,
      new cmd heading: 175.741557 deg.

2021-08-14T19:19:50.235Z,1628968790.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:50.593Z,1628968790.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:50.593Z,1628968790.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:50.594Z,1628968790.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:50.594Z,1628968790.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:50.989Z,1628968790.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,002B9,185,80,80,C4,FF
2021-08-14T19:19:50.989Z,1628968790.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:50.989Z,1628968790.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:50.991Z,1628968790.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:51.401Z,1628968791.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:51.817Z,1628968791.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,002BA,184,80,80,BB,FF
2021-08-14T19:19:51.817Z,1628968791.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:51.847Z,1628968791.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:52.234Z,1628968792.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191952.95*55

2021-08-14T19:19:52.269Z,1628968792.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 233.840870 deg, deltaT: 4.472279 s, approachRate: 0.013416 m/s, LOS rate: 1.669077 deg/s, posRepo size: 4
2021-08-14T19:19:52.271Z,1628968792.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 233.840870 deg,
      approachRate: 0.013416 m/s,
      LOS rate: 1.669077 deg/s,
      cmd update: 6.676307 deg/s,
      cmd heading: 221.030926 deg,
      new cmd heading: 225.872108 deg.

2021-08-14T19:19:54.654Z,1628968794.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:55.029Z,1628968795.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:55.029Z,1628968795.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:55.029Z,1628968795.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:55.030Z,1628968795.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:55.433Z,1628968795.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,002BA,184,80,80,BB,FF
2021-08-14T19:19:55.433Z,1628968795.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:55.433Z,1628968795.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:55.435Z,1628968795.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:19:55.856Z,1628968795.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:19:56.238Z,1628968796.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,002BA,185,80,80,B2,FF
2021-08-14T19:19:56.238Z,1628968796.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:19:56.323Z,1628968796.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:19:56.686Z,1628968796.686 [Micromodem](INFO): Nmea in: $SNTTA,0.028323,,,,191957.40*4E

2021-08-14T19:19:56.723Z,1628968796.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 238.459471 deg, deltaT: 4.475785 s, approachRate: 0.000000 m/s, LOS rate: 1.031909 deg/s, posRepo size: 4
2021-08-14T19:19:56.743Z,1628968796.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 238.459471 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.031909 deg/s,
      cmd update: 4.127634 deg/s,
      cmd heading: 250.885609 deg,
      new cmd heading: 253.574839 deg.

2021-08-14T19:19:59.114Z,1628968799.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:19:59.482Z,1628968799.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:19:59.482Z,1628968799.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:19:59.482Z,1628968799.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:19:59.483Z,1628968799.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:19:59.877Z,1628968799.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,002BA,185,80,80,B2,FF
2021-08-14T19:19:59.877Z,1628968799.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:19:59.877Z,1628968799.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:19:59.879Z,1628968799.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:00.289Z,1628968800.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:00.685Z,1628968800.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,002BC,184,80,80,AD,FF
2021-08-14T19:20:00.685Z,1628968800.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:00.751Z,1628968800.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:01.135Z,1628968801.135 [Micromodem](INFO): Nmea in: $SNTTA,0.026348,,,,192001.84*4C

2021-08-14T19:20:01.160Z,1628968801.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 237.441910 deg, deltaT: 4.427948 s, approachRate: 0.027101 m/s, LOS rate: -0.229804 deg/s, posRepo size: 4
2021-08-14T19:20:01.162Z,1628968801.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 237.441910 deg,
      approachRate: 0.027101 m/s,
      LOS rate: -0.229804 deg/s,
      cmd update: -0.919217 deg/s,
      cmd heading: 269.009998 deg,
      new cmd heading: 270.881175 deg.

2021-08-14T19:20:03.543Z,1628968803.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:03.921Z,1628968803.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:03.922Z,1628968803.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:03.922Z,1628968803.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:03.923Z,1628968803.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:04.321Z,1628968804.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,002BC,184,80,80,AD,FF
2021-08-14T19:20:04.321Z,1628968804.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:04.321Z,1628968804.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:04.323Z,1628968804.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:04.757Z,1628968804.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:05.129Z,1628968805.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,002BB,187,80,80,AE,FF
2021-08-14T19:20:05.129Z,1628968805.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:05.169Z,1628968805.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:05.574Z,1628968805.574 [Micromodem](INFO): Nmea in: $SNTTA,0.022247,,,,192006.28*47

2021-08-14T19:20:05.596Z,1628968805.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 243.253690 deg, deltaT: 4.418530 s, approachRate: -0.013579 m/s, LOS rate: 1.315320 deg/s, posRepo size: 4
2021-08-14T19:20:05.598Z,1628968805.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 243.253690 deg,
      approachRate: -0.013579 m/s,
      LOS rate: 1.315320 deg/s,
      cmd update: 5.261280 deg/s,
      cmd heading: 264.929161 deg,
      new cmd heading: 264.515903 deg.

2021-08-14T19:20:08.060Z,1628968808.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:08.369Z,1628968808.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:08.369Z,1628968808.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:08.369Z,1628968808.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:08.370Z,1628968808.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:08.800Z,1628968808.800 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,002BB,187,80,80,AE,FF
2021-08-14T19:20:08.801Z,1628968808.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:08.801Z,1628968808.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:08.802Z,1628968808.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:09.177Z,1628968809.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:09.573Z,1628968809.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,002BB,184,80,80,BF,FF
2021-08-14T19:20:09.573Z,1628968809.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:09.629Z,1628968809.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:10.033Z,1628968810.033 [Micromodem](INFO): Nmea in: $SNTTA,0.023625,,,,192010.76*4A

2021-08-14T19:20:10.088Z,1628968810.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 239.637050 deg, deltaT: 4.459715 s, approachRate: 0.000000 m/s, LOS rate: -0.810958 deg/s, posRepo size: 4
2021-08-14T19:20:10.090Z,1628968810.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 239.637050 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.810958 deg/s,
      cmd update: -3.243830 deg/s,
      cmd heading: 288.452422 deg,
      new cmd heading: 290.931432 deg.

2021-08-14T19:20:12.439Z,1628968812.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:12.805Z,1628968812.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:12.805Z,1628968812.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:12.806Z,1628968812.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:12.807Z,1628968812.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:13.217Z,1628968813.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,002BB,184,80,80,BF,FF
2021-08-14T19:20:13.217Z,1628968813.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:13.217Z,1628968813.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:13.219Z,1628968813.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:13.617Z,1628968813.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:14.069Z,1628968814.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,002BA,187,80,80,A8,FF
2021-08-14T19:20:14.069Z,1628968814.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:14.157Z,1628968814.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:14.449Z,1628968814.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192015.18*59

2021-08-14T19:20:14.493Z,1628968814.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 243.488703 deg, deltaT: 4.528281 s, approachRate: -0.013250 m/s, LOS rate: 0.850577 deg/s, posRepo size: 4
2021-08-14T19:20:14.496Z,1628968814.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 243.488703 deg,
      approachRate: -0.013250 m/s,
      LOS rate: 0.850577 deg/s,
      cmd update: 3.402309 deg/s,
      cmd heading: 273.761124 deg,
      new cmd heading: 272.640231 deg.

2021-08-14T19:20:16.892Z,1628968816.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:17.257Z,1628968817.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:17.257Z,1628968817.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:17.258Z,1628968817.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:17.259Z,1628968817.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:17.653Z,1628968817.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,002BA,187,80,80,A8,FF
2021-08-14T19:20:17.653Z,1628968817.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:17.653Z,1628968817.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:17.655Z,1628968817.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:18.088Z,1628968818.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:18.457Z,1628968818.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,002BC,186,80,80,AB,FF
2021-08-14T19:20:18.457Z,1628968818.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:18.484Z,1628968818.484 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:18.901Z,1628968818.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192019.61*5B

2021-08-14T19:20:18.935Z,1628968818.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 243.343903 deg, deltaT: 4.327407 s, approachRate: 0.027731 m/s, LOS rate: -0.033461 deg/s, posRepo size: 4
2021-08-14T19:20:18.937Z,1628968818.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 243.343903 deg,
      approachRate: 0.027731 m/s,
      LOS rate: -0.033461 deg/s,
      cmd update: -0.133845 deg/s,
      cmd heading: 288.500849 deg,
      new cmd heading: 290.054095 deg.

2021-08-14T19:20:21.334Z,1628968821.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:21.693Z,1628968821.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:21.693Z,1628968821.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:21.693Z,1628968821.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:21.694Z,1628968821.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:22.094Z,1628968822.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,002BC,186,80,80,AB,FF
2021-08-14T19:20:22.094Z,1628968822.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:22.094Z,1628968822.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:22.113Z,1628968822.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:22.509Z,1628968822.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:22.910Z,1628968822.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,002BC,187,80,80,B2,FF
2021-08-14T19:20:22.910Z,1628968822.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:22.990Z,1628968822.990 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:23.346Z,1628968823.346 [Micromodem](INFO): Nmea in: $SNTTA,0.006412,,,,192024.07*4A

2021-08-14T19:20:23.384Z,1628968823.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 242.846147 deg, deltaT: 4.505735 s, approachRate: 0.000000 m/s, LOS rate: -0.110472 deg/s, posRepo size: 4
2021-08-14T19:20:23.386Z,1628968823.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 242.846147 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.110472 deg/s,
      cmd update: -0.441887 deg/s,
      cmd heading: 287.897886 deg,
      new cmd heading: 287.846901 deg.

2021-08-14T19:20:25.853Z,1628968825.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:26.133Z,1628968826.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:26.133Z,1628968826.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:26.133Z,1628968826.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:26.135Z,1628968826.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:26.545Z,1628968826.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,002BC,187,80,80,B2,FF
2021-08-14T19:20:26.545Z,1628968826.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:26.545Z,1628968826.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:26.547Z,1628968826.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:26.959Z,1628968826.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:27.354Z,1628968827.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,002BB,186,80,80,B4,FF
2021-08-14T19:20:27.354Z,1628968827.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:27.403Z,1628968827.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:27.810Z,1628968827.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192028.51*5A

2021-08-14T19:20:27.856Z,1628968827.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 240.287421 deg, deltaT: 4.412313 s, approachRate: -0.013599 m/s, LOS rate: -0.579906 deg/s, posRepo size: 4
2021-08-14T19:20:27.862Z,1628968827.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 240.287421 deg,
      approachRate: -0.013599 m/s,
      LOS rate: -0.579906 deg/s,
      cmd update: -2.319623 deg/s,
      cmd heading: 285.948160 deg,
      new cmd heading: 285.744869 deg.

2021-08-14T19:20:30.257Z,1628968830.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:30.581Z,1628968830.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:30.581Z,1628968830.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:30.581Z,1628968830.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:30.582Z,1628968830.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:30.991Z,1628968830.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,002BB,186,80,80,B4,FF
2021-08-14T19:20:30.991Z,1628968830.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:30.991Z,1628968830.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:30.993Z,1628968830.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:31.393Z,1628968831.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:31.794Z,1628968831.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002BB,187,80,80,B6,FF
2021-08-14T19:20:31.794Z,1628968831.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:31.873Z,1628968831.873 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:32.221Z,1628968832.221 [Micromodem](INFO): Nmea in: $SNTTA,0.088846,0.403331,,,192032.95*55

2021-08-14T19:20:32.276Z,1628968832.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 243.202764 deg, deltaT: 4.470407 s, approachRate: 0.000000 m/s, LOS rate: 0.652143 deg/s, posRepo size: 4
2021-08-14T19:20:32.278Z,1628968832.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 243.202764 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.652143 deg/s,
      cmd update: 2.608571 deg/s,
      cmd heading: 275.594102 deg,
      new cmd heading: 274.628260 deg.

2021-08-14T19:20:34.645Z,1628968834.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:35.031Z,1628968835.031 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:35.031Z,1628968835.031 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:35.032Z,1628968835.032 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:35.033Z,1628968835.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:35.431Z,1628968835.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002BB,187,80,80,B6,FF
2021-08-14T19:20:35.431Z,1628968835.431 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:35.431Z,1628968835.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:35.433Z,1628968835.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:35.846Z,1628968835.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:36.245Z,1628968836.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,002B8,184,80,80,BC,FF
2021-08-14T19:20:36.246Z,1628968836.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:36.305Z,1628968836.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:36.686Z,1628968836.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192037.39*5A

2021-08-14T19:20:36.756Z,1628968836.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 243.189213 deg, deltaT: 4.431973 s, approachRate: -0.040614 m/s, LOS rate: -0.003058 deg/s, posRepo size: 4
2021-08-14T19:20:36.759Z,1628968836.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 243.189213 deg,
      approachRate: -0.040614 m/s,
      LOS rate: -0.003058 deg/s,
      cmd update: -0.012230 deg/s,
      cmd heading: 287.182396 deg,
      new cmd heading: 288.277889 deg.

2021-08-14T19:20:39.111Z,1628968839.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:39.473Z,1628968839.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:39.474Z,1628968839.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:39.474Z,1628968839.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:39.475Z,1628968839.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:39.885Z,1628968839.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,002B8,184,80,80,BC,FF
2021-08-14T19:20:39.885Z,1628968839.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:39.885Z,1628968839.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:39.887Z,1628968839.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:40.337Z,1628968840.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:40.811Z,1628968840.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,002BA,186,80,80,BF,FF
2021-08-14T19:20:40.811Z,1628968840.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:40.880Z,1628968840.880 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:41.158Z,1628968841.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192041.84*5D

2021-08-14T19:20:41.179Z,1628968841.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 243.737459 deg, deltaT: 4.575300 s, approachRate: 0.026228 m/s, LOS rate: 0.119827 deg/s, posRepo size: 4
2021-08-14T19:20:41.182Z,1628968841.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 243.737459 deg,
      approachRate: 0.026228 m/s,
      LOS rate: 0.119827 deg/s,
      cmd update: 0.479309 deg/s,
      cmd heading: 287.126537 deg,
      new cmd heading: 287.122739 deg.

2021-08-14T19:20:43.575Z,1628968843.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:43.984Z,1628968843.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:43.985Z,1628968843.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:43.985Z,1628968843.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:43.987Z,1628968843.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:44.365Z,1628968844.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,002BA,186,80,80,BF,FF
2021-08-14T19:20:44.365Z,1628968844.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:44.365Z,1628968844.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:44.367Z,1628968844.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:44.514Z,1628968844.514 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T19:20:44.515Z,1628968844.515 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T19:20:44.515Z,1628968844.515 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T19:20:44.520Z,1628968844.520 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:20:44.520Z,1628968844.520 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T19:20:44.521Z,1628968844.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.380000 m 
2021-08-14T19:20:44.522Z,1628968844.522 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T19:20:44.522Z,1628968844.522 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T19:20:44.522Z,1628968844.522 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T19:20:44.796Z,1628968844.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T192044: (41.552319, -70.708603)
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T19:20:44.919Z,1628968844.919 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T19:20:44.924Z,1628968844.924 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T19:20:45.173Z,1628968845.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,002BB,187,80,80,A8,FF
2021-08-14T19:20:45.174Z,1628968845.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:45.239Z,1628968845.239 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:45.622Z,1628968845.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192046.33*56

2021-08-14T19:20:45.651Z,1628968845.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 232.905790 deg, deltaT: 4.358704 s, approachRate: 0.013766 m/s, LOS rate: -2.485067 deg/s, posRepo size: 4
2021-08-14T19:20:45.655Z,1628968845.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 232.905790 deg,
      approachRate: 0.013766 m/s,
      LOS rate: -2.485067 deg/s,
      cmd update: -9.940266 deg/s,
      cmd heading: 289.219642 deg,
      new cmd heading: 289.418195 deg.

2021-08-14T19:20:48.143Z,1628968848.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:48.411Z,1628968848.411 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:48.411Z,1628968848.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:48.411Z,1628968848.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:48.412Z,1628968848.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:48.809Z,1628968848.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,002BB,187,80,80,A8,FF
2021-08-14T19:20:48.809Z,1628968848.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:48.809Z,1628968848.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:48.811Z,1628968848.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:49.216Z,1628968849.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:49.625Z,1628968849.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,002BB,184,80,80,C3,FF
2021-08-14T19:20:49.625Z,1628968849.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:49.645Z,1628968849.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:20:50.097Z,1628968850.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192050.77*51

2021-08-14T19:20:50.158Z,1628968850.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 230.548937 deg, deltaT: 4.405949 s, approachRate: 0.000000 m/s, LOS rate: -0.534925 deg/s, posRepo size: 4
2021-08-14T19:20:50.159Z,1628968850.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.44 m. Reached intercept timeout.
2021-08-14T19:20:50.159Z,1628968850.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T19:20:50.159Z,1628968850.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:20:50.159Z,1628968850.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-14T19:20:50.422Z,1628968850.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-14T19:20:50.422Z,1628968850.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-14T19:20:50.422Z,1628968850.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-14T19:20:50.878Z,1628968850.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-14T19:20:50.879Z,1628968850.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:20:50.879Z,1628968850.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T19:20:50.879Z,1628968850.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:20:50.879Z,1628968850.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T19:20:50.880Z,1628968850.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T19:20:50.880Z,1628968850.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T19:20:50.880Z,1628968850.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:20:51.241Z,1628968851.241 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T19:20:51.241Z,1628968851.241 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:20:51.241Z,1628968851.241 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T19:20:51.241Z,1628968851.241 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:20:51.241Z,1628968851.241 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T19:20:51.242Z,1628968851.242 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-14T19:20:51.242Z,1628968851.242 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T19:20:51.242Z,1628968851.242 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-14T19:20:51.242Z,1628968851.242 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-14T19:20:51.243Z,1628968851.243 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-14T19:20:51.653Z,1628968851.653 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-14T19:20:51.653Z,1628968851.653 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:20:52.430Z,1628968852.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:52.817Z,1628968852.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:52.817Z,1628968852.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:52.817Z,1628968852.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:52.818Z,1628968852.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:53.225Z,1628968853.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,002BB,184,80,80,C3,FF
2021-08-14T19:20:53.225Z,1628968853.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:53.225Z,1628968853.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:53.227Z,1628968853.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:53.648Z,1628968853.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:54.055Z,1628968854.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,002B9,185,80,80,CE,FF
2021-08-14T19:20:54.055Z,1628968854.055 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:54.460Z,1628968854.460 [Micromodem](INFO): Nmea in: $SNTTA,0.002509,,,,192055.18*4D

2021-08-14T19:20:54.900Z,1628968854.900 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-14T19:20:54.900Z,1628968854.900 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-14T19:20:54.901Z,1628968854.901 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T19:20:54.901Z,1628968854.901 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-14T19:20:55.278Z,1628968855.278 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-14T19:20:55.278Z,1628968855.278 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-14T19:20:55.280Z,1628968855.280 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-14T19:20:55.280Z,1628968855.280 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T19:20:55.280Z,1628968855.280 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T19:20:55.280Z,1628968855.280 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:20:55.281Z,1628968855.281 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T19:20:55.282Z,1628968855.282 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T19:20:55.282Z,1628968855.282 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T19:20:55.282Z,1628968855.282 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T19:20:55.282Z,1628968855.282 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T19:20:55.680Z,1628968855.680 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-14T19:20:55.680Z,1628968855.680 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T19:20:55.681Z,1628968855.681 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T19:20:55.681Z,1628968855.681 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-14T19:20:56.126Z,1628968856.126 [lineCaptureDepth:Lap:C] Stopped
2021-08-14T19:20:56.126Z,1628968856.126 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-14T19:20:56.509Z,1628968856.509 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-14T19:20:56.509Z,1628968856.509 [lineCaptureDepth:Lap:D] Stopped
2021-08-14T19:20:56.509Z,1628968856.509 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-14T19:20:56.510Z,1628968856.510 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-14T19:20:56.510Z,1628968856.510 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-14T19:20:56.897Z,1628968856.897 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-14T19:20:56.897Z,1628968856.897 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-14T19:20:56.897Z,1628968856.897 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-14T19:20:56.897Z,1628968856.897 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-14T19:20:56.897Z,1628968856.897 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T19:20:56.898Z,1628968856.898 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-14T19:20:56.898Z,1628968856.898 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-14T19:20:56.899Z,1628968856.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:20:57.269Z,1628968857.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:20:57.269Z,1628968857.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:20:57.269Z,1628968857.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:20:57.270Z,1628968857.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:20:57.674Z,1628968857.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,002B9,185,80,80,CE,FF
2021-08-14T19:20:57.674Z,1628968857.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:20:57.674Z,1628968857.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:20:57.676Z,1628968857.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:20:58.181Z,1628968858.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:20:58.509Z,1628968858.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,002B9,186,80,80,BF,FF
2021-08-14T19:20:58.510Z,1628968858.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:20:58.941Z,1628968858.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192059.63*5D

2021-08-14T19:21:01.355Z,1628968861.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:01.756Z,1628968861.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:01.757Z,1628968861.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:01.757Z,1628968861.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:01.758Z,1628968861.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:02.141Z,1628968862.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,002B9,186,80,80,BF,FF
2021-08-14T19:21:02.141Z,1628968862.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:02.141Z,1628968862.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:02.143Z,1628968862.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:02.557Z,1628968862.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:02.949Z,1628968862.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,002B8,186,80,80,C4,FF
2021-08-14T19:21:02.949Z,1628968862.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:03.398Z,1628968863.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192104.10*50

2021-08-14T19:21:05.825Z,1628968865.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:06.181Z,1628968866.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:06.181Z,1628968866.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:06.181Z,1628968866.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:06.182Z,1628968866.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:06.585Z,1628968866.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,002B8,186,80,80,C4,FF
2021-08-14T19:21:06.585Z,1628968866.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:06.585Z,1628968866.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:06.589Z,1628968866.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:06.996Z,1628968866.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:07.401Z,1628968867.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,002B7,187,80,80,B4,FF
2021-08-14T19:21:07.401Z,1628968867.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:07.833Z,1628968867.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192108.55*5D

2021-08-14T19:21:10.231Z,1628968870.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:10.710Z,1628968870.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:10.710Z,1628968870.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:10.711Z,1628968870.711 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:10.712Z,1628968870.712 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:11.033Z,1628968871.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,002B7,187,80,80,B4,FF
2021-08-14T19:21:11.034Z,1628968871.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:11.034Z,1628968871.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:11.035Z,1628968871.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:11.445Z,1628968871.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:11.842Z,1628968871.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,002B4,186,80,80,9D,FF
2021-08-14T19:21:11.842Z,1628968871.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:11.853Z,1628968871.853 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:21:12.254Z,1628968872.254 [Micromodem](INFO): Nmea in: $SNTTA,0.038979,0.380852,,,192113.00*5F

2021-08-14T19:21:14.683Z,1628968874.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:15.065Z,1628968875.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:15.065Z,1628968875.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:15.065Z,1628968875.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:15.066Z,1628968875.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:15.486Z,1628968875.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,002B4,186,80,80,9D,FF
2021-08-14T19:21:15.486Z,1628968875.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:15.486Z,1628968875.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:15.489Z,1628968875.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:15.885Z,1628968875.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:16.281Z,1628968876.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,002B6,186,80,80,6D,FF
2021-08-14T19:21:16.282Z,1628968876.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:16.285Z,1628968876.285 [Micromodem](INFO): Nmea in: $SNTTA,0.015066,0.195794,,,192117.45*51

2021-08-14T19:21:19.121Z,1628968879.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:19.523Z,1628968879.523 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:19.523Z,1628968879.523 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:19.523Z,1628968879.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:19.524Z,1628968879.524 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:19.893Z,1628968879.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,002B6,186,80,80,6D,FF
2021-08-14T19:21:19.893Z,1628968879.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:19.893Z,1628968879.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:19.895Z,1628968879.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:20.297Z,1628968880.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:20.805Z,1628968880.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,002BB,187,80,80,8C,FF
2021-08-14T19:21:20.805Z,1628968880.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:21.149Z,1628968881.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192121.85*5B

2021-08-14T19:21:23.578Z,1628968883.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:23.957Z,1628968883.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:23.957Z,1628968883.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:23.957Z,1628968883.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:23.958Z,1628968883.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:24.365Z,1628968884.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,002BB,187,80,80,8C,FF
2021-08-14T19:21:24.365Z,1628968884.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:24.365Z,1628968884.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:24.367Z,1628968884.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:24.796Z,1628968884.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:25.181Z,1628968885.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,002C6,186,80,80,70,FF
2021-08-14T19:21:25.181Z,1628968885.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:25.610Z,1628968885.610 [Micromodem](INFO): Nmea in: $SNTTA,0.020071,,,,192126.32*4A

2021-08-14T19:21:28.079Z,1628968888.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:28.413Z,1628968888.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:28.413Z,1628968888.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:28.414Z,1628968888.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:28.414Z,1628968888.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:28.809Z,1628968888.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,002C6,186,80,80,70,FF
2021-08-14T19:21:28.809Z,1628968888.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:28.809Z,1628968888.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:28.811Z,1628968888.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:29.189Z,1628968889.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:29.617Z,1628968889.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,002D1,188,80,80,A2,FF
2021-08-14T19:21:29.617Z,1628968889.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:30.055Z,1628968890.055 [Micromodem](INFO): Nmea in: $SNTTA,0.007036,,,,192130.77*4A

2021-08-14T19:21:32.473Z,1628968892.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:32.849Z,1628968892.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:32.849Z,1628968892.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:32.849Z,1628968892.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:32.850Z,1628968892.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:33.253Z,1628968893.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,002D1,188,80,80,A2,FF
2021-08-14T19:21:33.253Z,1628968893.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:33.253Z,1628968893.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:33.255Z,1628968893.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:33.665Z,1628968893.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:34.093Z,1628968894.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,002DB,188,80,80,A5,FF
2021-08-14T19:21:34.093Z,1628968894.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:34.101Z,1628968894.101 [Micromodem](INFO): Nmea in: $SNTTA,0.006695,0.311599,,,192135.21*5A

2021-08-14T19:21:36.918Z,1628968896.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:37.293Z,1628968897.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:37.293Z,1628968897.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:37.293Z,1628968897.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:37.294Z,1628968897.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:37.705Z,1628968897.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,002DB,188,80,80,A5,FF
2021-08-14T19:21:37.705Z,1628968897.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:37.705Z,1628968897.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:37.707Z,1628968897.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:38.109Z,1628968898.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:38.505Z,1628968898.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,002FE,186,80,80,54,FF
2021-08-14T19:21:38.506Z,1628968898.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:38.954Z,1628968898.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192139.67*5E

2021-08-14T19:21:39.009Z,1628968899.009 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-14T19:21:41.357Z,1628968901.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:41.762Z,1628968901.762 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:41.762Z,1628968901.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:41.762Z,1628968901.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:41.763Z,1628968901.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:42.141Z,1628968902.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,002FE,186,80,80,54,FF
2021-08-14T19:21:42.141Z,1628968902.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:42.141Z,1628968902.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:42.143Z,1628968902.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:42.564Z,1628968902.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:42.950Z,1628968902.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,002F4,188,80,80,8C,FF
2021-08-14T19:21:42.950Z,1628968902.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:43.393Z,1628968903.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192144.11*55

2021-08-14T19:21:45.841Z,1628968905.841 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T19:21:45.852Z,1628968905.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:46.190Z,1628968906.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:46.190Z,1628968906.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:46.190Z,1628968906.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:46.191Z,1628968906.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:46.604Z,1628968906.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,002F4,188,80,80,8C,FF
2021-08-14T19:21:46.605Z,1628968906.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:46.605Z,1628968906.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:46.606Z,1628968906.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:46.997Z,1628968906.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:47.405Z,1628968907.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00317,185,80,80,61,FF
2021-08-14T19:21:47.406Z,1628968907.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:47.833Z,1628968907.833 [Micromodem](INFO): Nmea in: $SNTTA,0.023991,,,,192148.56*44

2021-08-14T19:21:47.857Z,1628968907.857 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-14T19:21:50.254Z,1628968910.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:50.602Z,1628968910.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:50.602Z,1628968910.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:50.603Z,1628968910.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:50.603Z,1628968910.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:51.105Z,1628968911.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00317,185,80,80,61,FF
2021-08-14T19:21:51.105Z,1628968911.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:51.105Z,1628968911.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:51.107Z,1628968911.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:51.447Z,1628968911.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:51.841Z,1628968911.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,0030A,187,80,80,82,FF
2021-08-14T19:21:51.842Z,1628968911.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:52.254Z,1628968912.254 [Micromodem](INFO): Nmea in: $SNTTA,0.385240,0.385165,,,192153.06*51

2021-08-14T19:21:54.694Z,1628968914.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:55.069Z,1628968915.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:55.069Z,1628968915.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:55.069Z,1628968915.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:55.070Z,1628968915.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:55.478Z,1628968915.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,0030A,187,80,80,82,FF
2021-08-14T19:21:55.478Z,1628968915.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:55.479Z,1628968915.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:55.482Z,1628968915.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:21:55.885Z,1628968915.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:21:56.286Z,1628968916.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00315,186,80,80,65,FF
2021-08-14T19:21:56.286Z,1628968916.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:21:56.737Z,1628968916.737 [Micromodem](INFO): Nmea in: $SNTTA,0.031395,,,,192157.44*44

2021-08-14T19:21:59.144Z,1628968919.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:21:59.495Z,1628968919.495 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:21:59.496Z,1628968919.496 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:21:59.496Z,1628968919.496 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:21:59.497Z,1628968919.497 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:21:59.945Z,1628968919.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00315,186,80,80,65,FF
2021-08-14T19:21:59.945Z,1628968919.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:21:59.945Z,1628968919.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:21:59.947Z,1628968919.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:00.312Z,1628968920.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:00.693Z,1628968920.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,0031F,186,80,80,88,FF
2021-08-14T19:22:00.694Z,1628968920.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:01.218Z,1628968921.218 [Micromodem](INFO): Nmea in: $SNTTA,0.024789,,,,192201.91*41

2021-08-14T19:22:03.566Z,1628968923.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:03.965Z,1628968923.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:03.965Z,1628968923.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:03.965Z,1628968923.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:03.966Z,1628968923.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:04.376Z,1628968924.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,0031F,186,80,80,88,FF
2021-08-14T19:22:04.376Z,1628968924.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:04.377Z,1628968924.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:04.378Z,1628968924.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:04.804Z,1628968924.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:05.178Z,1628968925.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00326,186,80,80,75,FF
2021-08-14T19:22:05.178Z,1628968925.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:05.606Z,1628968925.606 [Micromodem](INFO): Nmea in: $SNTTA,0.029591,,,,192206.34*4F

2021-08-14T19:22:08.082Z,1628968928.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:08.405Z,1628968928.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:08.405Z,1628968928.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:08.405Z,1628968928.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:08.406Z,1628968928.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:08.809Z,1628968928.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00326,186,80,80,75,FF
2021-08-14T19:22:08.809Z,1628968928.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:08.809Z,1628968928.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:08.811Z,1628968928.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:09.221Z,1628968929.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:09.583Z,1628968929.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,0032E,186,80,80,76,FF
2021-08-14T19:22:09.583Z,1628968929.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:10.073Z,1628968930.073 [Micromodem](INFO): Nmea in: $SNTTA,0.043074,,,,192210.77*4D

2021-08-14T19:22:12.157Z,1628968932.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:12.449Z,1628968932.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:12.450Z,1628968932.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:12.450Z,1628968932.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:12.451Z,1628968932.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:12.849Z,1628968932.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,0032E,186,80,80,76,FF
2021-08-14T19:22:12.849Z,1628968932.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:12.849Z,1628968932.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:12.851Z,1628968932.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:13.258Z,1628968933.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:13.653Z,1628968933.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00337,189,80,80,76,FF
2021-08-14T19:22:13.654Z,1628968933.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:14.097Z,1628968934.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192214.81*5A

2021-08-14T19:22:16.515Z,1628968936.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:16.900Z,1628968936.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:16.900Z,1628968936.900 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:16.900Z,1628968936.900 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:16.901Z,1628968936.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:17.290Z,1628968937.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00337,189,80,80,76,FF
2021-08-14T19:22:17.290Z,1628968937.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:17.290Z,1628968937.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:17.292Z,1628968937.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:17.709Z,1628968937.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:18.093Z,1628968938.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,00342,187,80,80,8A,FF
2021-08-14T19:22:18.094Z,1628968938.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:18.097Z,1628968938.097 [Micromodem](INFO): Nmea in: $SNTTA,0.055210,0.250639,,,192219.25*51

2021-08-14T19:22:20.963Z,1628968940.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:21.413Z,1628968941.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:21.413Z,1628968941.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:21.413Z,1628968941.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:21.414Z,1628968941.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:21.752Z,1628968941.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,00342,187,80,80,8A,FF
2021-08-14T19:22:21.753Z,1628968941.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:21.753Z,1628968941.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:21.756Z,1628968941.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:22.150Z,1628968942.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:22.549Z,1628968942.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00347,186,80,80,BC,FF
2021-08-14T19:22:22.549Z,1628968942.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:22.978Z,1628968942.978 [Micromodem](INFO): Nmea in: $SNTTA,0.026618,,,,192223.72*47

2021-08-14T19:22:25.397Z,1628968945.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:25.801Z,1628968945.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:25.801Z,1628968945.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:25.801Z,1628968945.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:25.802Z,1628968945.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:26.189Z,1628968946.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00347,186,80,80,BC,FF
2021-08-14T19:22:26.189Z,1628968946.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:26.189Z,1628968946.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:26.191Z,1628968946.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:26.584Z,1628968946.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:26.993Z,1628968946.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF6,000,0034F,187,80,80,95,FF
2021-08-14T19:22:26.993Z,1628968946.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:27.425Z,1628968947.425 [Micromodem](INFO): Nmea in: $SNTTA,0.021498,,,,192228.15*40

2021-08-14T19:22:29.807Z,1628968949.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:30.213Z,1628968950.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:30.213Z,1628968950.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:30.213Z,1628968950.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:30.214Z,1628968950.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:30.589Z,1628968950.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF6,000,0034F,187,80,80,95,FF
2021-08-14T19:22:30.589Z,1628968950.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:30.589Z,1628968950.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:30.591Z,1628968950.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:31.005Z,1628968951.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:31.509Z,1628968951.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00359,187,80,80,8F,FF
2021-08-14T19:22:31.509Z,1628968951.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:31.854Z,1628968951.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192232.55*57

2021-08-14T19:22:34.299Z,1628968954.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:34.661Z,1628968954.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:34.661Z,1628968954.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:34.661Z,1628968954.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:34.662Z,1628968954.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:35.073Z,1628968955.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00359,187,80,80,8F,FF
2021-08-14T19:22:35.073Z,1628968955.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:35.073Z,1628968955.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:35.075Z,1628968955.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:35.475Z,1628968955.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:35.873Z,1628968955.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,00361,187,80,80,88,FF
2021-08-14T19:22:35.874Z,1628968955.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:36.314Z,1628968956.314 [Micromodem](INFO): Nmea in: $SNTTA,,0.363047,,,192237.03*4A

2021-08-14T19:22:38.769Z,1628968958.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:39.105Z,1628968959.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:39.105Z,1628968959.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:39.105Z,1628968959.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:39.106Z,1628968959.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:39.521Z,1628968959.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,00361,187,80,80,88,FF
2021-08-14T19:22:39.521Z,1628968959.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:39.521Z,1628968959.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:39.523Z,1628968959.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:39.888Z,1628968959.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:40.317Z,1628968960.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,0036A,189,80,80,8E,FF
2021-08-14T19:22:40.318Z,1628968960.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:40.730Z,1628968960.730 [Micromodem](INFO): Nmea in: $SNTTA,0.022647,,,,192241.48*44

2021-08-14T19:22:43.179Z,1628968963.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:43.565Z,1628968963.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:43.565Z,1628968963.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:43.565Z,1628968963.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:43.566Z,1628968963.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:43.953Z,1628968963.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,0036A,189,80,80,8E,FF
2021-08-14T19:22:43.953Z,1628968963.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:43.953Z,1628968963.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:43.955Z,1628968963.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:44.373Z,1628968964.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:44.793Z,1628968964.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,00374,188,80,80,77,FF
2021-08-14T19:22:44.794Z,1628968964.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:45.206Z,1628968965.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192245.91*5F

2021-08-14T19:22:47.626Z,1628968967.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:48.004Z,1628968968.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:48.005Z,1628968968.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:48.005Z,1628968968.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:48.006Z,1628968968.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:48.405Z,1628968968.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,00374,188,80,80,77,FF
2021-08-14T19:22:48.405Z,1628968968.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:48.406Z,1628968968.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:48.409Z,1628968968.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:48.805Z,1628968968.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:49.216Z,1628968969.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00388,186,80,80,57,FF
2021-08-14T19:22:49.217Z,1628968969.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:49.224Z,1628968969.224 [Micromodem](INFO): Nmea in: $SNTTA,0.312599,0.025545,,,192250.37*51

2021-08-14T19:22:52.125Z,1628968972.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:52.450Z,1628968972.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:52.450Z,1628968972.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:52.450Z,1628968972.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:52.451Z,1628968972.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:52.847Z,1628968972.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00388,186,80,80,57,FF
2021-08-14T19:22:52.847Z,1628968972.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:52.847Z,1628968972.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:52.849Z,1628968972.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:53.252Z,1628968973.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:53.649Z,1628968973.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,00388,186,80,80,7B,FF
2021-08-14T19:22:53.650Z,1628968973.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:54.106Z,1628968974.106 [Micromodem](INFO): Nmea in: $SNTTA,0.021609,,,,192254.81*4C

2021-08-14T19:22:56.534Z,1628968976.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:22:56.881Z,1628968976.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:22:56.881Z,1628968976.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:22:56.881Z,1628968976.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:22:56.882Z,1628968976.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:22:57.285Z,1628968977.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,00388,186,80,80,7B,FF
2021-08-14T19:22:57.285Z,1628968977.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:22:57.285Z,1628968977.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:22:57.287Z,1628968977.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:22:57.701Z,1628968977.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:22:58.117Z,1628968978.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00395,187,80,80,B2,FF
2021-08-14T19:22:58.117Z,1628968978.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:22:58.142Z,1628968978.142 [Micromodem](INFO): Nmea in: $SNTTA,0.209341,0.294472,,,192259.25*5E

2021-08-14T19:23:00.925Z,1628968980.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:01.293Z,1628968981.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:01.293Z,1628968981.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:01.293Z,1628968981.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:01.294Z,1628968981.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:01.809Z,1628968981.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00395,187,80,80,B2,FF
2021-08-14T19:23:01.809Z,1628968981.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:01.809Z,1628968981.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:01.811Z,1628968981.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:02.136Z,1628968982.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:02.545Z,1628968982.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,003B9,188,80,80,3B,FF
2021-08-14T19:23:02.545Z,1628968982.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:03.359Z,1628968983.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192303.77*54

2021-08-14T19:23:05.383Z,1628968985.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:05.793Z,1628968985.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:05.793Z,1628968985.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:05.793Z,1628968985.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:05.794Z,1628968985.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:06.181Z,1628968986.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,003B9,188,80,80,3B,FF
2021-08-14T19:23:06.182Z,1628968986.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:06.182Z,1628968986.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:06.183Z,1628968986.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:06.584Z,1628968986.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:06.986Z,1628968986.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B97,000,003C5,18A,80,80,52,FF
2021-08-14T19:23:06.987Z,1628968986.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:07.422Z,1628968987.422 [Micromodem](INFO): Nmea in: $SNTTA,0.030576,,,,192308.14*43

2021-08-14T19:23:09.837Z,1628968989.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:10.185Z,1628968990.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:10.185Z,1628968990.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:10.185Z,1628968990.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:10.186Z,1628968990.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:10.622Z,1628968990.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B97,000,003C5,18A,80,80,52,FF
2021-08-14T19:23:10.622Z,1628968990.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:10.622Z,1628968990.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:10.624Z,1628968990.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:10.997Z,1628968990.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:11.922Z,1628968991.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192312.58*59

2021-08-14T19:23:12.650Z,1628968992.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:14.253Z,1628968994.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,18A,80,80,52,FF
2021-08-14T19:23:14.254Z,1628968994.254 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,18A,80,80,52,FF
2021-08-14T19:23:14.254Z,1628968994.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:23:15.495Z,1628968995.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:15.869Z,1628968995.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:15.869Z,1628968995.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:15.869Z,1628968995.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:15.870Z,1628968995.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:16.273Z,1628968996.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,18A,80,80,52,FF
2021-08-14T19:23:16.273Z,1628968996.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:16.273Z,1628968996.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:16.275Z,1628968996.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:16.681Z,1628968996.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:17.085Z,1628968997.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,003D4,186,80,80,80,FF
2021-08-14T19:23:17.085Z,1628968997.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:17.517Z,1628968997.517 [Micromodem](INFO): Nmea in: $SNTTA,0.030950,,,,192318.23*4E

2021-08-14T19:23:20.037Z,1628969000.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:20.294Z,1628969000.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:20.295Z,1628969000.295 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:20.295Z,1628969000.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:20.296Z,1628969000.296 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:20.732Z,1628969000.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,003D4,186,80,80,80,FF
2021-08-14T19:23:20.733Z,1628969000.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:20.733Z,1628969000.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:20.743Z,1628969000.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:21.094Z,1628969001.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:21.499Z,1628969001.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,003EB,183,80,80,A9,FF
2021-08-14T19:23:21.501Z,1628969001.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:22.030Z,1628969002.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192322.70*50

2021-08-14T19:23:24.043Z,1628969004.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:24.361Z,1628969004.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:24.361Z,1628969004.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:24.361Z,1628969004.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:24.362Z,1628969004.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:24.785Z,1628969004.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,003EB,183,80,80,A9,FF
2021-08-14T19:23:24.785Z,1628969004.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:24.785Z,1628969004.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:24.787Z,1628969004.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:25.181Z,1628969005.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:25.569Z,1628969005.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,003F7,186,80,80,69,FF
2021-08-14T19:23:25.570Z,1628969005.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:26.005Z,1628969006.005 [Micromodem](INFO): Nmea in: $SNTTA,0.038493,,,,192326.75*4A

2021-08-14T19:23:28.128Z,1628969008.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:28.393Z,1628969008.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:28.393Z,1628969008.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:28.393Z,1628969008.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:28.394Z,1628969008.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:28.797Z,1628969008.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,003F7,186,80,80,69,FF
2021-08-14T19:23:28.797Z,1628969008.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:28.797Z,1628969008.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:28.799Z,1628969008.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:29.213Z,1628969009.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:29.605Z,1628969009.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,00404,189,80,80,69,FF
2021-08-14T19:23:29.605Z,1628969009.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:30.081Z,1628969010.081 [Micromodem](INFO): Nmea in: $SNTTA,0.085864,,,,192330.76*4C

2021-08-14T19:23:32.211Z,1628969012.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:32.441Z,1628969012.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:32.441Z,1628969012.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:32.441Z,1628969012.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:32.442Z,1628969012.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:32.837Z,1628969012.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,00404,189,80,80,69,FF
2021-08-14T19:23:32.837Z,1628969012.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:32.837Z,1628969012.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:32.839Z,1628969012.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:33.249Z,1628969013.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:33.657Z,1628969013.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,00417,186,80,80,70,FF
2021-08-14T19:23:33.657Z,1628969013.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:34.102Z,1628969014.102 [Micromodem](INFO): Nmea in: $SNTTA,,0.034980,,,192334.80*40

2021-08-14T19:23:36.494Z,1628969016.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:36.885Z,1628969016.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:36.885Z,1628969016.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:36.886Z,1628969016.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:36.887Z,1628969016.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:37.281Z,1628969017.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,00417,186,80,80,70,FF
2021-08-14T19:23:37.281Z,1628969017.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:37.281Z,1628969017.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:37.283Z,1628969017.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:37.693Z,1628969017.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:38.117Z,1628969018.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,00427,186,80,80,98,FF
2021-08-14T19:23:38.117Z,1628969018.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:38.141Z,1628969018.141 [Micromodem](INFO): Nmea in: $SNTTA,0.296639,0.296614,,,192339.25*55

2021-08-14T19:23:41.019Z,1628969021.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:41.289Z,1628969021.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:41.289Z,1628969021.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:41.289Z,1628969021.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:41.290Z,1628969021.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:41.701Z,1628969021.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,00427,186,80,80,98,FF
2021-08-14T19:23:41.701Z,1628969021.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:41.701Z,1628969021.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:41.705Z,1628969021.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:42.205Z,1628969022.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:42.546Z,1628969022.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00437,189,80,80,3D,FF
2021-08-14T19:23:42.546Z,1628969022.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:42.961Z,1628969022.961 [Micromodem](INFO): Nmea in: $SNTTA,0.019921,,,,192343.67*4D

2021-08-14T19:23:45.394Z,1628969025.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:45.785Z,1628969025.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:45.785Z,1628969025.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:45.785Z,1628969025.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:45.786Z,1628969025.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:46.165Z,1628969026.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00437,189,80,80,3D,FF
2021-08-14T19:23:46.165Z,1628969026.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:46.166Z,1628969026.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:46.167Z,1628969026.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:46.574Z,1628969026.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:46.985Z,1628969026.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,0044B,187,80,80,52,FF
2021-08-14T19:23:46.985Z,1628969026.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:49.832Z,1628969029.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:50.217Z,1628969030.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:50.217Z,1628969030.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:50.217Z,1628969030.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:50.218Z,1628969030.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:50.253Z,1628969030.253 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:23:50.581Z,1628969030.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,0044B,187,80,80,52,FF
2021-08-14T19:23:50.581Z,1628969030.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:50.582Z,1628969030.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:50.583Z,1628969030.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:51.037Z,1628969031.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:51.389Z,1628969031.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00459,189,80,80,4F,FF
2021-08-14T19:23:51.390Z,1628969031.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:51.817Z,1628969031.817 [Micromodem](INFO): Nmea in: $SNTTA,0.040839,,,,192352.54*49

2021-08-14T19:23:54.295Z,1628969034.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:54.653Z,1628969034.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:54.653Z,1628969034.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:54.653Z,1628969034.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:54.654Z,1628969034.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:55.079Z,1628969035.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00459,189,80,80,4F,FF
2021-08-14T19:23:55.079Z,1628969035.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:55.079Z,1628969035.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:55.081Z,1628969035.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:55.471Z,1628969035.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:23:55.873Z,1628969035.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,0046A,188,80,80,78,FF
2021-08-14T19:23:55.874Z,1628969035.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:23:56.305Z,1628969036.305 [Micromodem](INFO): Nmea in: $SNTTA,0.055939,,,,192357.04*4C

2021-08-14T19:23:58.749Z,1628969038.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:23:59.112Z,1628969039.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:23:59.112Z,1628969039.112 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:23:59.112Z,1628969039.112 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:23:59.113Z,1628969039.113 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:23:59.505Z,1628969039.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,0046A,188,80,80,78,FF
2021-08-14T19:23:59.505Z,1628969039.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:23:59.505Z,1628969039.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:23:59.507Z,1628969039.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:23:59.922Z,1628969039.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:00.318Z,1628969040.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,00480,188,80,80,72,FF
2021-08-14T19:24:00.318Z,1628969040.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:00.321Z,1628969040.321 [Micromodem](INFO): Nmea in: $SNTTA,0.090608,0.142843,,,192401.47*5D

2021-08-14T19:24:00.328Z,1628969040.328 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:24:03.188Z,1628969043.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:03.545Z,1628969043.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:03.545Z,1628969043.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:03.545Z,1628969043.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:03.546Z,1628969043.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:03.952Z,1628969043.952 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,00480,188,80,80,72,FF
2021-08-14T19:24:03.952Z,1628969043.952 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:03.952Z,1628969043.952 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:03.955Z,1628969043.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:04.370Z,1628969044.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:04.808Z,1628969044.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,00491,188,80,80,4A,FF
2021-08-14T19:24:04.809Z,1628969044.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:05.181Z,1628969045.181 [Micromodem](INFO): Nmea in: $SNTTA,0.032958,,,,192405.92*45

2021-08-14T19:24:07.595Z,1628969047.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:08.001Z,1628969048.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:08.001Z,1628969048.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:08.002Z,1628969048.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:08.003Z,1628969048.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:08.405Z,1628969048.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,00491,188,80,80,4A,FF
2021-08-14T19:24:08.405Z,1628969048.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:08.405Z,1628969048.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:08.407Z,1628969048.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:08.809Z,1628969048.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:09.197Z,1628969049.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,004A3,189,80,80,86,FF
2021-08-14T19:24:09.197Z,1628969049.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:09.634Z,1628969049.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192410.37*55

2021-08-14T19:24:12.109Z,1628969052.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:12.505Z,1628969052.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:12.505Z,1628969052.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:12.505Z,1628969052.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:12.506Z,1628969052.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:12.833Z,1628969052.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,004A3,189,80,80,86,FF
2021-08-14T19:24:12.833Z,1628969052.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:12.833Z,1628969052.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:12.835Z,1628969052.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:13.240Z,1628969053.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:13.641Z,1628969053.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,004B5,18A,80,80,4D,FF
2021-08-14T19:24:13.642Z,1628969053.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:14.081Z,1628969054.081 [Micromodem](INFO): Nmea in: $SNTTA,0.481499,0.481499,,,192414.80*5D

2021-08-14T19:24:16.490Z,1628969056.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:16.885Z,1628969056.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:16.885Z,1628969056.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:16.885Z,1628969056.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:16.886Z,1628969056.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:17.281Z,1628969057.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,004B5,18A,80,80,4D,FF
2021-08-14T19:24:17.282Z,1628969057.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:17.282Z,1628969057.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:17.283Z,1628969057.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:17.692Z,1628969057.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:18.090Z,1628969058.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,004C2,188,80,80,78,FF
2021-08-14T19:24:18.090Z,1628969058.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:18.521Z,1628969058.521 [Micromodem](INFO): Nmea in: $SNTTA,0.051711,,,,192419.24*43

2021-08-14T19:24:20.921Z,1628969060.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:21.317Z,1628969061.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:21.317Z,1628969061.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:21.317Z,1628969061.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:21.318Z,1628969061.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:21.693Z,1628969061.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,004C2,188,80,80,78,FF
2021-08-14T19:24:21.693Z,1628969061.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:21.694Z,1628969061.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:21.695Z,1628969061.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:22.097Z,1628969062.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:22.605Z,1628969062.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,004D5,187,80,80,3F,FF
2021-08-14T19:24:22.606Z,1628969062.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:22.962Z,1628969062.962 [Micromodem](INFO): Nmea in: $SNTTA,0.052610,,,,192423.66*4F

2021-08-14T19:24:25.368Z,1628969065.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:25.781Z,1628969065.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:25.781Z,1628969065.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:25.781Z,1628969065.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:25.782Z,1628969065.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:26.165Z,1628969066.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,004D5,187,80,80,3F,FF
2021-08-14T19:24:26.165Z,1628969066.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:26.165Z,1628969066.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:26.167Z,1628969066.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:26.577Z,1628969066.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:26.981Z,1628969066.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,004E7,186,80,80,56,FF
2021-08-14T19:24:26.981Z,1628969066.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:27.417Z,1628969067.417 [Micromodem](INFO): Nmea in: $SNTTA,0.034793,,,,192428.13*4C

2021-08-14T19:24:29.825Z,1628969069.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:30.213Z,1628969070.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:30.213Z,1628969070.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:30.213Z,1628969070.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:30.214Z,1628969070.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:30.232Z,1628969070.232 [RDI_Pathfinder](ERROR): only read -1 of 4 data items
2021-08-14T19:24:30.609Z,1628969070.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,004E7,186,80,80,56,FF
2021-08-14T19:24:30.609Z,1628969070.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:30.609Z,1628969070.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:30.611Z,1628969070.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:30.996Z,1628969070.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:31.417Z,1628969071.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,004F1,187,80,80,7A,FF
2021-08-14T19:24:31.417Z,1628969071.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:31.825Z,1628969071.825 [Micromodem](INFO): Nmea in: $SNTTA,0.060538,,,,192432.57*45

2021-08-14T19:24:34.274Z,1628969074.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:34.654Z,1628969074.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:34.654Z,1628969074.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:34.654Z,1628969074.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:34.655Z,1628969074.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:35.079Z,1628969075.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,004F1,187,80,80,7A,FF
2021-08-14T19:24:35.080Z,1628969075.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:35.080Z,1628969075.080 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:35.082Z,1628969075.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:35.469Z,1628969075.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:35.861Z,1628969075.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00509,186,80,80,61,FF
2021-08-14T19:24:35.862Z,1628969075.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:36.287Z,1628969076.287 [Micromodem](INFO): Nmea in: $SNTTA,0.084616,,,,192437.04*43

2021-08-14T19:24:38.741Z,1628969078.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:39.105Z,1628969079.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:39.105Z,1628969079.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:39.105Z,1628969079.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:39.106Z,1628969079.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:39.494Z,1628969079.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00509,186,80,80,61,FF
2021-08-14T19:24:39.494Z,1628969079.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:39.494Z,1628969079.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:39.497Z,1628969079.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:39.904Z,1628969079.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:40.325Z,1628969080.325 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T19:24:40.748Z,1628969080.748 [Micromodem](INFO): Nmea in: $SNTTA,0.189637,,,,192441.46*4B

2021-08-14T19:24:41.539Z,1628969081.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:42.809Z,1628969082.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,61,FF
2021-08-14T19:24:42.809Z,1628969082.809 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,61,FF
2021-08-14T19:24:42.809Z,1628969082.809 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:24:44.047Z,1628969084.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:44.345Z,1628969084.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:44.345Z,1628969084.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:44.345Z,1628969084.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:44.346Z,1628969084.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:44.785Z,1628969084.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,61,FF
2021-08-14T19:24:44.785Z,1628969084.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:44.785Z,1628969084.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:44.787Z,1628969084.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:45.164Z,1628969085.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:45.561Z,1628969085.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00526,187,80,80,85,FF
2021-08-14T19:24:45.561Z,1628969085.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:46.021Z,1628969086.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192446.75*50

2021-08-14T19:24:48.418Z,1628969088.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:48.794Z,1628969088.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:48.794Z,1628969088.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:48.794Z,1628969088.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:48.795Z,1628969088.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:49.193Z,1628969089.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00526,187,80,80,85,FF
2021-08-14T19:24:49.193Z,1628969089.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:49.193Z,1628969089.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:49.195Z,1628969089.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:49.609Z,1628969089.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:50.422Z,1628969090.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192451.15*50

2021-08-14T19:24:51.182Z,1628969091.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,04116,186,80,80,63,FF
2021-08-14T19:24:51.182Z,1628969091.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:54.133Z,1628969094.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:54.449Z,1628969094.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:54.449Z,1628969094.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:54.450Z,1628969094.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:54.451Z,1628969094.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:54.857Z,1628969094.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,04116,186,80,80,63,FF
2021-08-14T19:24:54.858Z,1628969094.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:54.858Z,1628969094.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:54.859Z,1628969094.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:55.269Z,1628969095.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:24:55.736Z,1628969095.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00549,186,80,80,76,FF
2021-08-14T19:24:55.737Z,1628969095.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:24:56.117Z,1628969096.117 [Micromodem](INFO): Nmea in: $SNTTA,0.073632,,,,192456.82*44

2021-08-14T19:24:58.522Z,1628969098.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:24:58.909Z,1628969098.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:24:58.909Z,1628969098.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:24:58.909Z,1628969098.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:24:58.910Z,1628969098.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:24:59.305Z,1628969099.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00549,186,80,80,76,FF
2021-08-14T19:24:59.305Z,1628969099.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:24:59.305Z,1628969099.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:24:59.307Z,1628969099.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:24:59.744Z,1628969099.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:00.109Z,1628969100.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00556,184,80,80,60,FF
2021-08-14T19:25:00.109Z,1628969100.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:00.554Z,1628969100.554 [Micromodem](INFO): Nmea in: $SNTTA,0.283488,,,,192501.27*46

2021-08-14T19:25:03.040Z,1628969103.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:03.341Z,1628969103.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:03.341Z,1628969103.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:03.341Z,1628969103.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:03.342Z,1628969103.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:03.773Z,1628969103.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00556,184,80,80,60,FF
2021-08-14T19:25:03.773Z,1628969103.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:03.773Z,1628969103.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:03.775Z,1628969103.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:04.152Z,1628969104.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:04.553Z,1628969104.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,00566,186,80,80,54,FF
2021-08-14T19:25:04.554Z,1628969104.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:04.985Z,1628969104.985 [Micromodem](INFO): Nmea in: $SNTTA,0.054365,,,,192505.74*48

2021-08-14T19:25:07.395Z,1628969107.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:07.797Z,1628969107.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:07.797Z,1628969107.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:07.797Z,1628969107.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:07.798Z,1628969107.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:08.189Z,1628969108.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,00566,186,80,80,54,FF
2021-08-14T19:25:08.189Z,1628969108.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:08.189Z,1628969108.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:08.191Z,1628969108.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:08.595Z,1628969108.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:08.997Z,1628969108.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00578,183,80,80,8F,FF
2021-08-14T19:25:08.997Z,1628969108.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:09.441Z,1628969109.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192510.15*54

2021-08-14T19:25:11.863Z,1628969111.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:12.201Z,1628969112.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:12.201Z,1628969112.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:12.201Z,1628969112.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:12.202Z,1628969112.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:12.605Z,1628969112.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00578,183,80,80,8F,FF
2021-08-14T19:25:12.605Z,1628969112.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:12.605Z,1628969112.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:12.607Z,1628969112.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:13.117Z,1628969113.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:13.450Z,1628969113.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00586,188,80,80,7D,FF
2021-08-14T19:25:13.450Z,1628969113.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:13.870Z,1628969113.870 [Micromodem](INFO): Nmea in: $SNTTA,0.049996,,,,192514.57*43

2021-08-14T19:25:16.323Z,1628969116.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:16.686Z,1628969116.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:16.686Z,1628969116.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:16.687Z,1628969116.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:16.692Z,1628969116.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:17.081Z,1628969117.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00586,188,80,80,7D,FF
2021-08-14T19:25:17.081Z,1628969117.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:17.081Z,1628969117.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:17.083Z,1628969117.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:17.502Z,1628969117.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:17.897Z,1628969117.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B1,000,00595,189,80,80,92,FF
2021-08-14T19:25:17.897Z,1628969117.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:18.305Z,1628969118.305 [Micromodem](INFO): Nmea in: $SNTTA,0.354397,0.354397,,,192519.05*5C

2021-08-14T19:25:20.782Z,1628969120.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:21.145Z,1628969121.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:21.145Z,1628969121.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:21.145Z,1628969121.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:21.146Z,1628969121.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:21.513Z,1628969121.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B1,000,00595,189,80,80,92,FF
2021-08-14T19:25:21.513Z,1628969121.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:21.514Z,1628969121.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:21.515Z,1628969121.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:21.941Z,1628969121.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:22.301Z,1628969122.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,005A7,186,80,80,67,FF
2021-08-14T19:25:22.301Z,1628969122.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:22.304Z,1628969122.304 [Micromodem](INFO): Nmea in: $SNTTA,0.139761,0.139630,,,192523.48*59

2021-08-14T19:25:25.201Z,1628969125.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:25.201Z,1628969125.201 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T19:25:25.202Z,1628969125.202 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T19:25:25.202Z,1628969125.202 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T19:25:25.202Z,1628969125.202 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:25:25.202Z,1628969125.202 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T19:25:25.617Z,1628969125.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:25.617Z,1628969125.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:25.617Z,1628969125.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:25.618Z,1628969125.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:25.854Z,1628969125.854 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 00FB1761210000005D00000400320000000000000000151D80030C5669C08C7A9708BCE30E3E2AF32F78694031625FCD0E5BF36EFD8A53374F543E1CCFAA09EC
2021-08-14T19:25:25.855Z,1628969125.855 [Micromodem](INFO): Outgoing frame #2, 7 bytes: DF187213040AC0
2021-08-14T19:25:25.855Z,1628969125.855 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T19:25:26.117Z,1628969126.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,005A7,186,80,80,67,FF
2021-08-14T19:25:26.117Z,1628969126.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:26.117Z,1628969126.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:26.119Z,1628969126.119 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T19:25:26.120Z,1628969126.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:26.526Z,1628969126.526 [Micromodem](INFO): Nmea in: $CADRQ,192527,1,10,0,64,1*7C

2021-08-14T19:25:26.527Z,1628969126.527 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,192527,1,10,0,64,1*7C

2021-08-14T19:25:26.913Z,1628969126.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,005B9,189,80,80,98,FF
2021-08-14T19:25:26.913Z,1628969126.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:26.918Z,1628969126.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:27.345Z,1628969127.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192528.08*53

2021-08-14T19:25:29.790Z,1628969129.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:30.145Z,1628969130.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:30.145Z,1628969130.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:30.145Z,1628969130.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:30.146Z,1628969130.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:30.549Z,1628969130.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,005B9,189,80,80,98,FF
2021-08-14T19:25:30.549Z,1628969130.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:30.549Z,1628969130.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:30.551Z,1628969130.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:30.952Z,1628969130.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:31.354Z,1628969131.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,005C9,189,80,80,7C,FF
2021-08-14T19:25:31.354Z,1628969131.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:31.785Z,1628969131.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192532.51*54

2021-08-14T19:25:34.111Z,1628969134.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:34.341Z,1628969134.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:34.341Z,1628969134.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:34.341Z,1628969134.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:34.342Z,1628969134.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:34.769Z,1628969134.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,005C9,189,80,80,7C,FF
2021-08-14T19:25:34.769Z,1628969134.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:34.769Z,1628969134.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:34.771Z,1628969134.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:35.164Z,1628969135.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:35.557Z,1628969135.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,005D5,189,80,80,A0,FF
2021-08-14T19:25:35.558Z,1628969135.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:35.989Z,1628969135.989 [Micromodem](INFO): Nmea in: $SNTTA,0.079188,,,,192536.73*41

2021-08-14T19:25:38.597Z,1628969138.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:38.793Z,1628969138.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:38.793Z,1628969138.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:38.794Z,1628969138.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:38.794Z,1628969138.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:39.185Z,1628969139.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,005D5,189,80,80,A0,FF
2021-08-14T19:25:39.185Z,1628969139.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:39.185Z,1628969139.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:39.187Z,1628969139.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:39.601Z,1628969139.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:40.030Z,1628969140.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,005E8,189,80,80,A6,FF
2021-08-14T19:25:40.030Z,1628969140.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:40.417Z,1628969140.417 [Micromodem](INFO): Nmea in: $SNTTA,0.096296,0.343637,,,192541.15*54

2021-08-14T19:25:42.823Z,1628969142.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:43.201Z,1628969143.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:43.201Z,1628969143.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:43.201Z,1628969143.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:43.202Z,1628969143.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:43.705Z,1628969143.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,005E8,189,80,80,A6,FF
2021-08-14T19:25:43.706Z,1628969143.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:43.706Z,1628969143.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:43.713Z,1628969143.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:44.068Z,1628969144.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:44.445Z,1628969144.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,005F8,186,80,80,85,FF
2021-08-14T19:25:44.446Z,1628969144.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:45.443Z,1628969145.443 [Micromodem](INFO): Nmea in: $SNTTA,0.087606,,,,192545.68*4F

2021-08-14T19:25:47.283Z,1628969147.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:47.481Z,1628969147.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:47.482Z,1628969147.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:47.482Z,1628969147.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:47.483Z,1628969147.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:47.886Z,1628969147.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,005F8,186,80,80,85,FF
2021-08-14T19:25:47.886Z,1628969147.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:47.887Z,1628969147.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:47.889Z,1628969147.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:48.285Z,1628969148.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:48.701Z,1628969148.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29C,000,00609,189,80,80,AD,FF
2021-08-14T19:25:48.703Z,1628969148.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:49.110Z,1628969149.110 [Micromodem](INFO): Nmea in: $SNTTA,0.091882,0.391039,,,192549.85*5A

2021-08-14T19:25:51.743Z,1628969151.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:51.887Z,1628969151.887 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:51.887Z,1628969151.887 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:51.887Z,1628969151.887 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:51.888Z,1628969151.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:52.321Z,1628969152.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29C,000,00609,189,80,80,AD,FF
2021-08-14T19:25:52.321Z,1628969152.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:52.321Z,1628969152.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:52.323Z,1628969152.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:52.701Z,1628969152.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:53.099Z,1628969153.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,0061A,189,80,80,86,FF
2021-08-14T19:25:53.100Z,1628969153.100 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:53.645Z,1628969153.645 [Micromodem](INFO): Nmea in: $SNTTA,0.074182,,,,192554.29*4D

2021-08-14T19:25:55.774Z,1628969155.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:25:56.109Z,1628969156.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:25:56.109Z,1628969156.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:25:56.109Z,1628969156.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:25:56.110Z,1628969156.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:25:56.144Z,1628969156.144 [Micromodem](INFO): Nmea in: $CAERR,192557,DATA_TIMEOUT,1*43

2021-08-14T19:25:56.513Z,1628969156.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,0061A,189,80,80,86,FF
2021-08-14T19:25:56.513Z,1628969156.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:25:56.513Z,1628969156.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:25:56.515Z,1628969156.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:25:56.926Z,1628969156.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:25:56.962Z,1628969156.962 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-14T19:20:56.9Z
2021-08-14T19:25:56.963Z,1628969156.963 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-14T19:25:56.963Z,1628969156.963 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-14T19:25:56.963Z,1628969156.963 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T19:25:56.963Z,1628969156.963 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-14T19:25:57.288Z,1628969157.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00629,187,80,80,8E,FF
2021-08-14T19:25:57.289Z,1628969157.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:25:57.321Z,1628969157.321 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 56.219994 m .
2021-08-14T19:25:57.322Z,1628969157.322 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-14T19:25:57.322Z,1628969157.322 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-14T19:25:57.322Z,1628969157.322 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-14T19:25:57.322Z,1628969157.322 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:25:57.777Z,1628969157.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192558.48*50

2021-08-14T19:25:58.150Z,1628969158.150 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:26:00.109Z,1628969160.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:00.218Z,1628969160.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:00.218Z,1628969160.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:00.219Z,1628969160.219 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:00.219Z,1628969160.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:00.629Z,1628969160.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00629,187,80,80,8E,FF
2021-08-14T19:26:00.629Z,1628969160.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:00.629Z,1628969160.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:00.631Z,1628969160.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:01.064Z,1628969161.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:01.133Z,1628969161.133 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-14T19:26:01.438Z,1628969161.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,00639,18A,80,80,6F,FF
2021-08-14T19:26:01.439Z,1628969161.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:01.509Z,1628969161.509 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T19:26:01.869Z,1628969161.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192602.60*56

2021-08-14T19:26:01.917Z,1628969161.917 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-14T19:26:02.266Z,1628969162.266 [CTD_Seabird](ERROR): Failed to parse device response: 36,4804.32
2021-08-14T19:26:02.301Z,1628969162.301 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T19:26:04.518Z,1628969164.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:04.681Z,1628969164.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:04.682Z,1628969164.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:04.683Z,1628969164.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:04.684Z,1628969164.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:05.096Z,1628969165.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,00639,18A,80,80,6F,FF
2021-08-14T19:26:05.098Z,1628969165.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:05.099Z,1628969165.099 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:05.103Z,1628969165.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:05.487Z,1628969165.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:05.881Z,1628969165.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D6,000,0064C,188,80,80,91,FF
2021-08-14T19:26:05.882Z,1628969165.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:06.317Z,1628969166.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192607.07*52

2021-08-14T19:26:08.761Z,1628969168.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:09.113Z,1628969169.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:09.113Z,1628969169.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:09.113Z,1628969169.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:09.114Z,1628969169.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:09.525Z,1628969169.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D6,000,0064C,188,80,80,91,FF
2021-08-14T19:26:09.526Z,1628969169.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:09.526Z,1628969169.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:09.527Z,1628969169.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:09.928Z,1628969169.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:10.329Z,1628969170.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00659,187,80,80,9D,FF
2021-08-14T19:26:10.329Z,1628969170.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:10.785Z,1628969170.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192611.49*5F

2021-08-14T19:26:12.991Z,1628969172.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:13.161Z,1628969173.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:13.161Z,1628969173.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:13.161Z,1628969173.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:13.162Z,1628969173.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:13.561Z,1628969173.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00659,187,80,80,9D,FF
2021-08-14T19:26:13.561Z,1628969173.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:13.561Z,1628969173.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:13.563Z,1628969173.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:13.973Z,1628969173.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:14.377Z,1628969174.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,0066B,186,80,80,83,FF
2021-08-14T19:26:14.377Z,1628969174.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:14.813Z,1628969174.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192615.53*50

2021-08-14T19:26:17.398Z,1628969177.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:17.601Z,1628969177.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:17.602Z,1628969177.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:17.603Z,1628969177.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:17.606Z,1628969177.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:18.029Z,1628969178.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,0066B,186,80,80,83,FF
2021-08-14T19:26:18.029Z,1628969178.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:18.029Z,1628969178.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:18.031Z,1628969178.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:18.408Z,1628969178.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:18.809Z,1628969178.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8A,000,0067C,186,80,80,7C,FF
2021-08-14T19:26:18.809Z,1628969178.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:19.237Z,1628969179.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192619.99*5A

2021-08-14T19:26:21.672Z,1628969181.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:22.069Z,1628969182.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:22.069Z,1628969182.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:22.069Z,1628969182.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:22.070Z,1628969182.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:22.453Z,1628969182.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8A,000,0067C,186,80,80,7C,FF
2021-08-14T19:26:22.453Z,1628969182.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:22.453Z,1628969182.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:22.455Z,1628969182.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:22.539Z,1628969182.539 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 62.10 m. Transitioning DDM to standby.
2021-08-14T19:26:22.857Z,1628969182.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:23.258Z,1628969183.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00688,186,80,80,92,FF
2021-08-14T19:26:23.258Z,1628969183.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:23.690Z,1628969183.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192624.42*52

2021-08-14T19:26:24.994Z,1628969184.994 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-14T19:26:25.337Z,1628969185.337 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T19:26:25.337Z,1628969185.337 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-14T19:26:25.337Z,1628969185.337 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-14T19:26:25.338Z,1628969185.338 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-14T19:26:25.338Z,1628969185.338 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-14T19:26:25.338Z,1628969185.338 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-14T19:26:25.338Z,1628969185.338 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-14T19:26:25.338Z,1628969185.338 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-14T19:26:25.338Z,1628969185.338 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-14T19:26:25.339Z,1628969185.339 [lineCaptureDepth:Lap] Stopped
2021-08-14T19:26:25.339Z,1628969185.339 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T19:26:25.339Z,1628969185.339 [lineCaptureDepth:Lap](INFO): Running loop #4
2021-08-14T19:26:25.339Z,1628969185.339 [lineCaptureDepth:Lap] Running Loop=4
2021-08-14T19:26:25.339Z,1628969185.339 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T19:26:25.339Z,1628969185.339 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T19:26:25.934Z,1628969185.934 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T19:26:25.934Z,1628969185.934 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T19:26:25.934Z,1628969185.934 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T19:26:25.935Z,1628969185.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:26.117Z,1628969186.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:26.117Z,1628969186.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:26.117Z,1628969186.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:26.118Z,1628969186.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:26.185Z,1628969186.185 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T19:26:26.185Z,1628969186.185 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T19:26:26.185Z,1628969186.185 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T19:26:26.185Z,1628969186.185 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T19:26:26.186Z,1628969186.186 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T19:26:26.187Z,1628969186.187 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T19:26:26.200Z,1628969186.200 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:26:26.200Z,1628969186.200 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T19:26:26.200Z,1628969186.200 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T19:26:26.200Z,1628969186.200 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T19:26:26.201Z,1628969186.201 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T19:26:26.201Z,1628969186.201 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T19:26:26.209Z,1628969186.209 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T19:26:26.209Z,1628969186.209 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T19:26:26.474Z,1628969186.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00688,186,80,80,92,FF
2021-08-14T19:26:26.474Z,1628969186.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:26.475Z,1628969186.475 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:26.477Z,1628969186.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:26.573Z,1628969186.573 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T19:26:26.573Z,1628969186.573 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T19:26:26.896Z,1628969186.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:26.964Z,1628969186.964 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T19:26:26.964Z,1628969186.964 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T19:26:27.277Z,1628969187.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00699,187,80,80,83,FF
2021-08-14T19:26:27.278Z,1628969187.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:27.293Z,1628969187.293 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T19:26:27.293Z,1628969187.293 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T19:26:27.728Z,1628969187.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192628.44*58

2021-08-14T19:26:27.776Z,1628969187.776 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T19:26:27.776Z,1628969187.776 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T19:26:27.776Z,1628969187.776 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T19:26:27.776Z,1628969187.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T19:26:27.776Z,1628969187.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:26:27.777Z,1628969187.777 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T19:26:27.778Z,1628969187.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:26:27.779Z,1628969187.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T19:26:28.155Z,1628969188.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T19:26:28.156Z,1628969188.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T19:26:28.160Z,1628969188.160 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T19:26:29.821Z,1628969189.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:30.181Z,1628969190.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:30.181Z,1628969190.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:30.181Z,1628969190.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:30.182Z,1628969190.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:30.577Z,1628969190.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00699,187,80,80,83,FF
2021-08-14T19:26:30.577Z,1628969190.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:30.577Z,1628969190.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:30.579Z,1628969190.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:31.011Z,1628969191.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:31.024Z,1628969191.024 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T19:26:31.047Z,1628969191.047 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T19:26:31.385Z,1628969191.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,006A2,187,80,80,6F,FF
2021-08-14T19:26:31.385Z,1628969191.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:31.594Z,1628969191.594 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 00FB1761210000005D00000400320000000000000000151D80030C5669C08C7A9708BCE30E3E2AF32F78694031625FCD0E5BF36EFD8A53374F543E1CCFAA09EC
2021-08-14T19:26:31.595Z,1628969191.595 [Micromodem](INFO): Outgoing frame #2, 7 bytes: DF187213040AC0
2021-08-14T19:26:31.595Z,1628969191.595 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T19:26:31.668Z,1628969191.668 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T19:26:31.865Z,1628969191.865 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T19:26:31.920Z,1628969191.920 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-14T19:26:32.221Z,1628969192.221 [Micromodem](INFO): Nmea in: $CADRQ,192633,1,10,0,64,1*7A

2021-08-14T19:26:32.222Z,1628969192.222 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761210000005D00000400320000000000000000151D80030C5669C08C7A9708BCE30E3E2AF32F78694031625FCD0E5BF36EFD8A53374F543E1CCFAA09EC*36

2021-08-14T19:26:32.558Z,1628969192.558 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T19:26:32.718Z,1628969192.718 [Micromodem](INFO): Nmea in: $SNTTA,0.054679,,,,192632.54*45

2021-08-14T19:26:32.719Z,1628969192.719 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.054679,,,,192632.54*45

2021-08-14T19:26:33.902Z,1628969193.902 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T19:26:34.306Z,1628969194.306 [Micromodem](INFO): Nmea in: $CADRQ,192634,1,10,0,64,2*7E

2021-08-14T19:26:34.307Z,1628969194.307 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,DF187213040AC0*43

2021-08-14T19:26:34.385Z,1628969194.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:34.724Z,1628969194.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:34.725Z,1628969194.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:34.725Z,1628969194.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:34.727Z,1628969194.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:34.737Z,1628969194.737 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-14T19:26:35.136Z,1628969195.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,006A2,187,80,80,6F,FF
2021-08-14T19:26:35.137Z,1628969195.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:35.137Z,1628969195.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:35.138Z,1628969195.138 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-14T19:26:35.139Z,1628969195.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:36.969Z,1628969196.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:37.550Z,1628969197.550 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-14T19:26:37.550Z,1628969197.550 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-14T19:26:37.959Z,1628969197.959 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,192636.249565,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*54

2021-08-14T19:26:37.959Z,1628969197.959 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,192636.249565,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*54

2021-08-14T19:26:39.593Z,1628969199.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:40.804Z,1628969200.804 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.077493
2021-08-14T19:26:42.104Z,1628969202.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:42.401Z,1628969202.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:42.402Z,1628969202.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:42.402Z,1628969202.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:42.403Z,1628969202.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:42.801Z,1628969202.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,006A2,187,80,80,6F,FF
2021-08-14T19:26:42.801Z,1628969202.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:42.801Z,1628969202.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:44.877Z,1628969204.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:46.442Z,1628969206.442 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:46.844Z,1628969206.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:47.253Z,1628969207.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,006E1,189,80,80,9C,FF
2021-08-14T19:26:47.254Z,1628969207.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:47.681Z,1628969207.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192648.41*5B

2021-08-14T19:26:49.933Z,1628969209.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:50.069Z,1628969210.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:50.069Z,1628969210.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:50.069Z,1628969210.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:50.069Z,1628969210.069 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:50.478Z,1628969210.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,006E1,189,80,80,9C,FF
2021-08-14T19:26:50.478Z,1628969210.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:50.478Z,1628969210.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:50.497Z,1628969210.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:50.895Z,1628969210.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:51.289Z,1628969211.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,006F1,189,80,80,5E,FF
2021-08-14T19:26:51.289Z,1628969211.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:51.714Z,1628969211.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192652.46*57

2021-08-14T19:26:52.996Z,1628969212.996 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 69.12 m. Transitioning DDM to standby.
2021-08-14T19:26:54.167Z,1628969214.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:54.533Z,1628969214.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:54.533Z,1628969214.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:54.533Z,1628969214.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:54.534Z,1628969214.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:54.921Z,1628969214.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,006F1,189,80,80,5E,FF
2021-08-14T19:26:54.921Z,1628969214.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:54.921Z,1628969214.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:54.923Z,1628969214.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:55.357Z,1628969215.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:55.390Z,1628969215.390 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T19:26:55.740Z,1628969215.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,00701,189,80,80,53,FF
2021-08-14T19:26:55.742Z,1628969215.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:26:55.806Z,1628969215.806 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T19:26:55.807Z,1628969215.807 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T19:26:55.807Z,1628969215.807 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T19:26:56.129Z,1628969216.129 [Micromodem](INFO): Nmea in: $SNTTA,0.475798,0.475817,,,192656.89*58

2021-08-14T19:26:56.354Z,1628969216.354 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T19:26:56.354Z,1628969216.354 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T19:26:56.354Z,1628969216.354 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T19:26:56.583Z,1628969216.583 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T19:26:56.583Z,1628969216.583 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:26:56.583Z,1628969216.583 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T19:26:56.583Z,1628969216.583 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:26:56.584Z,1628969216.584 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:26:56.973Z,1628969216.973 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:26:56.973Z,1628969216.973 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:26:56.973Z,1628969216.973 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T19:26:56.973Z,1628969216.973 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:26:56.973Z,1628969216.973 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:26:56.973Z,1628969216.973 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T19:26:56.974Z,1628969216.974 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:26:56.974Z,1628969216.974 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T19:26:56.974Z,1628969216.974 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T19:26:56.975Z,1628969216.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T19:26:56.975Z,1628969216.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:26:56.975Z,1628969216.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T19:26:56.976Z,1628969216.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 70.079994 m 
2021-08-14T19:26:56.976Z,1628969216.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T19:26:56.976Z,1628969216.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T19:26:56.977Z,1628969216.977 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T19:26:56.977Z,1628969216.977 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T19:26:56.977Z,1628969216.977 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T19:26:56.978Z,1628969216.978 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T19:26:57.384Z,1628969217.384 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T19:26:57.384Z,1628969217.384 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:26:57.384Z,1628969217.384 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T19:26:57.384Z,1628969217.384 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:26:57.385Z,1628969217.385 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T19:26:57.813Z,1628969217.813 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T19:26:57.814Z,1628969217.814 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T19:26:57.815Z,1628969217.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:26:57.816Z,1628969217.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:26:57.816Z,1628969217.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T19:26:57.817Z,1628969217.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T19:26:57.817Z,1628969217.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T19:26:57.817Z,1628969217.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T19:26:57.817Z,1628969217.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T19:26:57.817Z,1628969217.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T19:26:57.818Z,1628969217.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:26:57.818Z,1628969217.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T19:26:57.819Z,1628969217.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T19:26:57.819Z,1628969217.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T19:26:57.819Z,1628969217.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:26:57.819Z,1628969217.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T19:26:57.819Z,1628969217.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:26:57.819Z,1628969217.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T19:26:57.820Z,1628969217.820 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T19:26:57.820Z,1628969217.820 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T19:26:57.820Z,1628969217.820 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T19:26:57.820Z,1628969217.820 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T19:26:58.358Z,1628969218.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.079994 m, bearing: 174.230107 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T19:26:58.358Z,1628969218.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 174.230107deg and heading rate command to 0 deg/s.
2021-08-14T19:26:58.363Z,1628969218.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:26:58.631Z,1628969218.631 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:26:58.631Z,1628969218.631 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:26:58.631Z,1628969218.631 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:26:58.633Z,1628969218.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:26:59.139Z,1628969219.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,00701,189,80,80,53,FF
2021-08-14T19:26:59.139Z,1628969219.139 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:26:59.139Z,1628969219.139 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:26:59.141Z,1628969219.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:26:59.483Z,1628969219.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:26:59.874Z,1628969219.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00711,189,80,80,7B,FF
2021-08-14T19:26:59.874Z,1628969219.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:00.365Z,1628969220.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.040001 m, bearing: 175.418014 deg, deltaT: 4.089185 s, approachRate: 0.234767 m/s, LOS rate: 0.290500 deg/s, posRepo size: 2
2021-08-14T19:27:00.367Z,1628969220.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.040001 m,
      bearing: 175.418014 deg,
      approachRate: 0.234767 m/s,
      LOS rate: 0.290500 deg/s,
      cmd update: 1.161998 deg/s,
      cmd heading: 174.230107 deg,
      new cmd heading: 174.230107 deg.

2021-08-14T19:27:00.689Z,1628969220.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192701.10*53

2021-08-14T19:27:02.557Z,1628969222.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:02.745Z,1628969222.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:02.745Z,1628969222.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:02.745Z,1628969222.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:02.746Z,1628969222.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:03.121Z,1628969223.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00711,189,80,80,7B,FF
2021-08-14T19:27:03.121Z,1628969223.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:03.121Z,1628969223.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:03.123Z,1628969223.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:03.552Z,1628969223.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:03.929Z,1628969223.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00729,186,80,80,92,FF
2021-08-14T19:27:03.929Z,1628969223.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:04.370Z,1628969224.370 [Micromodem](INFO): Nmea in: $SNTTA,0.061040,,,,192705.09*42

2021-08-14T19:27:04.618Z,1628969224.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 184.965334 deg, deltaT: 4.152612 s, approachRate: 0.346770 m/s, LOS rate: 2.299112 deg/s, posRepo size: 3
2021-08-14T19:27:04.621Z,1628969224.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.480003 m,
      bearing: 184.965334 deg,
      approachRate: 0.346770 m/s,
      LOS rate: 2.299112 deg/s,
      cmd update: 9.196448 deg/s,
      cmd heading: 179.055470 deg,
      new cmd heading: 179.709339 deg.

2021-08-14T19:27:06.854Z,1628969226.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:07.189Z,1628969227.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:07.189Z,1628969227.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:07.189Z,1628969227.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:07.190Z,1628969227.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:07.601Z,1628969227.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00729,186,80,80,92,FF
2021-08-14T19:27:07.601Z,1628969227.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:07.602Z,1628969227.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:07.603Z,1628969227.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:08.031Z,1628969228.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:08.405Z,1628969228.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,00755,187,80,80,91,FF
2021-08-14T19:27:08.406Z,1628969228.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:08.849Z,1628969228.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192709.57*58

2021-08-14T19:27:09.076Z,1628969229.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.120003 m, bearing: 180.350749 deg, deltaT: 4.411041 s, approachRate: 0.598498 m/s, LOS rate: -1.046144 deg/s, posRepo size: 4
2021-08-14T19:27:09.079Z,1628969229.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.120003 m,
      bearing: 180.350749 deg,
      approachRate: 0.598498 m/s,
      LOS rate: -1.046144 deg/s,
      cmd update: -4.184577 deg/s,
      cmd heading: 219.540535 deg,
      new cmd heading: 225.209953 deg.

2021-08-14T19:27:11.079Z,1628969231.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:11.271Z,1628969231.271 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:11.271Z,1628969231.271 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:11.271Z,1628969231.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:11.272Z,1628969231.272 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:11.685Z,1628969231.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,00755,187,80,80,91,FF
2021-08-14T19:27:11.685Z,1628969231.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:11.686Z,1628969231.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:11.688Z,1628969231.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:12.082Z,1628969232.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:12.487Z,1628969232.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00784,189,80,80,57,FF
2021-08-14T19:27:12.487Z,1628969232.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:12.917Z,1628969232.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192713.65*52

2021-08-14T19:27:12.966Z,1628969232.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.939995 m, bearing: 167.455256 deg, deltaT: 4.067163 s, approachRate: 0.693356 m/s, LOS rate: -3.170636 deg/s, posRepo size: 4
2021-08-14T19:27:12.969Z,1628969232.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.939995 m,
      bearing: 167.455256 deg,
      approachRate: 0.693356 m/s,
      LOS rate: -3.170636 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 202.501391 deg,
      new cmd heading: 200.675517 deg.

2021-08-14T19:27:15.525Z,1628969235.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:15.734Z,1628969235.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:15.734Z,1628969235.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:15.735Z,1628969235.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:15.737Z,1628969235.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:16.121Z,1628969236.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00784,189,80,80,57,FF
2021-08-14T19:27:16.121Z,1628969236.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:16.122Z,1628969236.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:16.123Z,1628969236.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:16.549Z,1628969236.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:16.925Z,1628969236.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,007C7,187,80,80,80,FF
2021-08-14T19:27:16.926Z,1628969236.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:17.393Z,1628969237.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192718.09*53

2021-08-14T19:27:17.607Z,1628969237.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.960007 m, bearing: 180.596868 deg, deltaT: 4.457056 s, approachRate: 0.901943 m/s, LOS rate: 2.948496 deg/s, posRepo size: 4
2021-08-14T19:27:17.610Z,1628969237.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.960007 m,
      bearing: 180.596868 deg,
      approachRate: 0.901943 m/s,
      LOS rate: 2.948496 deg/s,
      cmd update: 11.793984 deg/s,
      cmd heading: 148.968440 deg,
      new cmd heading: 141.571532 deg.

2021-08-14T19:27:19.830Z,1628969239.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:20.185Z,1628969240.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:20.185Z,1628969240.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:20.185Z,1628969240.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:20.186Z,1628969240.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:20.585Z,1628969240.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,007C7,187,80,80,80,FF
2021-08-14T19:27:20.585Z,1628969240.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:20.585Z,1628969240.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:20.587Z,1628969240.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:20.989Z,1628969240.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:21.389Z,1628969241.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,00803,186,80,80,84,FF
2021-08-14T19:27:21.390Z,1628969241.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:21.837Z,1628969241.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192722.55*53

2021-08-14T19:27:22.152Z,1628969242.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.559998 m, bearing: 197.857193 deg, deltaT: 4.464894 s, approachRate: 0.806288 m/s, LOS rate: 3.865786 deg/s, posRepo size: 4
2021-08-14T19:27:22.154Z,1628969242.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.559998 m,
      bearing: 197.857193 deg,
      approachRate: 0.806288 m/s,
      LOS rate: 3.865786 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 201.579528 deg,
      new cmd heading: 209.836578 deg.

2021-08-14T19:27:24.199Z,1628969244.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:24.321Z,1628969244.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:24.321Z,1628969244.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:24.321Z,1628969244.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:24.322Z,1628969244.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:24.733Z,1628969244.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,00803,186,80,80,84,FF
2021-08-14T19:27:24.733Z,1628969244.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:24.734Z,1628969244.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:24.740Z,1628969244.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:25.133Z,1628969245.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:25.946Z,1628969245.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192726.70*50

2021-08-14T19:27:26.814Z,1628969246.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:28.362Z,1628969248.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,84,FF
2021-08-14T19:27:28.362Z,1628969248.362 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,84,FF
2021-08-14T19:27:28.363Z,1628969248.363 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:27:29.706Z,1628969249.706 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:27:29.774Z,1628969249.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:30.077Z,1628969250.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:30.077Z,1628969250.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:30.077Z,1628969250.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:30.078Z,1628969250.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:30.482Z,1628969250.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,84,FF
2021-08-14T19:27:30.482Z,1628969250.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:30.482Z,1628969250.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:30.485Z,1628969250.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:31.034Z,1628969251.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:31.421Z,1628969251.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,0088A,186,80,80,66,FF
2021-08-14T19:27:31.422Z,1628969251.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:31.850Z,1628969251.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192732.45*53

2021-08-14T19:27:31.916Z,1628969251.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.660004 m, bearing: 220.178347 deg, deltaT: 9.987477 s, approachRate: 0.811016 m/s, LOS rate: 2.234914 deg/s, posRepo size: 4
2021-08-14T19:27:31.918Z,1628969251.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.660004 m,
      bearing: 220.178347 deg,
      approachRate: 0.811016 m/s,
      LOS rate: 2.234914 deg/s,
      cmd update: 8.939656 deg/s,
      cmd heading: 321.478202 deg,
      new cmd heading: 327.144230 deg.

2021-08-14T19:27:34.339Z,1628969254.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:34.649Z,1628969254.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:34.649Z,1628969254.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:34.649Z,1628969254.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:34.650Z,1628969254.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:35.065Z,1628969255.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,0088A,186,80,80,66,FF
2021-08-14T19:27:35.065Z,1628969255.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:35.065Z,1628969255.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:35.067Z,1628969255.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:35.621Z,1628969255.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:36.073Z,1628969256.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,008C7,186,80,80,A9,FF
2021-08-14T19:27:36.074Z,1628969256.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:36.442Z,1628969256.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192737.03*54

2021-08-14T19:27:36.511Z,1628969256.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 233.455729 deg, deltaT: 4.736848 s, approachRate: 0.772665 m/s, LOS rate: 2.802999 deg/s, posRepo size: 4
2021-08-14T19:27:36.524Z,1628969256.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.320000 m,
      bearing: 233.455729 deg,
      approachRate: 0.772665 m/s,
      LOS rate: 2.802999 deg/s,
      cmd update: 11.211998 deg/s,
      cmd heading: 3.786744 deg,
      new cmd heading: 6.781001 deg.

2021-08-14T19:27:36.850Z,1628969256.850 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T19:27:37.416Z,1628969257.416 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 00FB1761210000005D00000400320000000000000000151D80030C5669C08C7A9708BCE30E3E2AF32F78694031625FCD0E5BF36EFD8A53374F543E1CCFAA09EC
2021-08-14T19:27:37.417Z,1628969257.417 [Micromodem](INFO): Outgoing frame #2, 7 bytes: DF187213040AC0
2021-08-14T19:27:37.417Z,1628969257.417 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-14T19:27:38.101Z,1628969258.101 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-14T19:27:38.445Z,1628969258.445 [Micromodem](INFO): Nmea in: $CADRQ,192739,1,10,0,64,1*71

2021-08-14T19:27:38.446Z,1628969258.446 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761210000005D00000400320000000000000000151D80030C5669C08C7A9708BCE30E3E2AF32F78694031625FCD0E5BF36EFD8A53374F543E1CCFAA09EC*36

2021-08-14T19:27:38.826Z,1628969258.826 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-14T19:27:38.891Z,1628969258.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:39.233Z,1628969259.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:39.233Z,1628969259.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:39.233Z,1628969259.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:39.234Z,1628969259.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:39.240Z,1628969259.240 [Micromodem](INFO): Nmea in: $CADRQ,192740,1,10,0,64,2*7C

2021-08-14T19:27:39.243Z,1628969259.243 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,DF187213040AC0*43

2021-08-14T19:27:39.625Z,1628969259.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,008C7,186,80,80,A9,FF
2021-08-14T19:27:39.625Z,1628969259.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:39.625Z,1628969259.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:39.627Z,1628969259.627 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-14T19:27:39.628Z,1628969259.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:40.086Z,1628969260.086 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-14T19:27:40.087Z,1628969260.087 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2021-08-14T19:27:41.895Z,1628969261.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:42.493Z,1628969262.493 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-14T19:27:42.494Z,1628969262.494 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-14T19:27:42.891Z,1628969262.891 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,192741.181204,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*52

2021-08-14T19:27:42.892Z,1628969262.892 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,192741.181204,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*52

2021-08-14T19:27:44.565Z,1628969264.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:45.348Z,1628969265.348 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.114225
2021-08-14T19:27:45.350Z,1628969265.350 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T19:27:45.746Z,1628969265.746 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-14T19:27:45.747Z,1628969265.747 [Micromodem](INFO): Sent 63 bytes from file Logs/20210814T171856/Courier0033.lzma.parts
2021-08-14T19:27:45.747Z,1628969265.747 [Micromodem](INFO): Packets left to send: 0
2021-08-14T19:27:46.130Z,1628969266.130 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814192745.980650,06,32767,45,0168,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,13.0,5.02,13,-2.02,-01,0.61,37,14500,4000*60

2021-08-14T19:27:46.130Z,1628969266.130 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814192745.980650,06,32767,45,0168,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,13.0,5.02,13,-2.02,-01,0.61,37,14500,4000*60

2021-08-14T19:27:46.495Z,1628969266.495 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T19:27:46.495Z,1628969266.495 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T19:27:46.495Z,1628969266.495 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T19:27:46.495Z,1628969266.495 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:27:46.496Z,1628969266.496 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T19:27:47.074Z,1628969267.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:47.452Z,1628969267.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:47.452Z,1628969267.452 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:47.452Z,1628969267.452 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:47.453Z,1628969267.453 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:47.853Z,1628969267.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,008C7,186,80,80,A9,FF
2021-08-14T19:27:47.853Z,1628969267.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:47.853Z,1628969267.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:49.833Z,1628969269.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:51.006Z,1628969271.006 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:51.417Z,1628969271.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:51.811Z,1628969271.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00993,187,80,80,B0,FF
2021-08-14T19:27:51.811Z,1628969271.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:52.225Z,1628969272.225 [Micromodem](INFO): Nmea in: $SNTTA,0.101289,0.432777,,,192752.97*5B

2021-08-14T19:27:52.281Z,1628969272.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.560005 m, bearing: 251.858882 deg, deltaT: 15.678140 s, approachRate: 0.780705 m/s, LOS rate: 1.173810 deg/s, posRepo size: 4
2021-08-14T19:27:52.283Z,1628969272.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.560005 m,
      bearing: 251.858882 deg,
      approachRate: 0.780705 m/s,
      LOS rate: 1.173810 deg/s,
      cmd update: 4.695239 deg/s,
      cmd heading: 179.390143 deg,
      new cmd heading: 184.310035 deg.

2021-08-14T19:27:54.651Z,1628969274.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:55.046Z,1628969275.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:55.046Z,1628969275.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:55.046Z,1628969275.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:55.047Z,1628969275.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:55.437Z,1628969275.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00993,187,80,80,B0,FF
2021-08-14T19:27:55.438Z,1628969275.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:55.438Z,1628969275.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:55.439Z,1628969275.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:27:55.861Z,1628969275.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:27:56.263Z,1628969276.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,009D0,186,80,80,96,FF
2021-08-14T19:27:56.263Z,1628969276.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:27:56.693Z,1628969276.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192757.40*55

2021-08-14T19:27:56.758Z,1628969276.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.220001 m, bearing: 227.832762 deg, deltaT: 4.441477 s, approachRate: 0.824049 m/s, LOS rate: -5.409488 deg/s, posRepo size: 4
2021-08-14T19:27:56.764Z,1628969276.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.220001 m,
      bearing: 227.832762 deg,
      approachRate: 0.824049 m/s,
      LOS rate: -5.409488 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 200.338668 deg,
      new cmd heading: 202.488045 deg.

2021-08-14T19:27:59.147Z,1628969279.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:27:59.522Z,1628969279.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:27:59.522Z,1628969279.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:27:59.522Z,1628969279.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:27:59.523Z,1628969279.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:27:59.913Z,1628969279.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,009D0,186,80,80,96,FF
2021-08-14T19:27:59.913Z,1628969279.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:27:59.913Z,1628969279.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:27:59.915Z,1628969279.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:00.325Z,1628969280.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:00.874Z,1628969280.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00A15,185,80,80,50,FF
2021-08-14T19:28:00.874Z,1628969280.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:01.253Z,1628969281.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192801.88*5D

2021-08-14T19:28:01.356Z,1628969281.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.360001 m, bearing: 219.893050 deg, deltaT: 4.677667 s, approachRate: 0.885056 m/s, LOS rate: -1.697366 deg/s, posRepo size: 4
2021-08-14T19:28:01.358Z,1628969281.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.360001 m,
      bearing: 219.893050 deg,
      approachRate: 0.885056 m/s,
      LOS rate: -1.697366 deg/s,
      cmd update: -6.789464 deg/s,
      cmd heading: 144.532654 deg,
      new cmd heading: 139.869466 deg.

2021-08-14T19:28:03.658Z,1628969283.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:04.069Z,1628969284.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:04.069Z,1628969284.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:04.069Z,1628969284.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:04.070Z,1628969284.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:04.430Z,1628969284.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00A15,185,80,80,50,FF
2021-08-14T19:28:04.431Z,1628969284.431 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:04.431Z,1628969284.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:04.433Z,1628969284.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:04.828Z,1628969284.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:05.257Z,1628969285.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46A,000,00A50,18A,80,80,6B,FF
2021-08-14T19:28:05.258Z,1628969285.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:05.669Z,1628969285.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192806.40*5E

2021-08-14T19:28:05.749Z,1628969285.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 130.472568 deg, deltaT: 4.338014 s, approachRate: 0.816042 m/s, LOS rate: -20.613231 deg/s, posRepo size: 4
2021-08-14T19:28:05.750Z,1628969285.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.613231 deg/s. Setting heading cmd to target bearing of 130.472568deg and heading rate command to 0 deg/s.
2021-08-14T19:28:08.151Z,1628969288.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:08.469Z,1628969288.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:08.470Z,1628969288.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:08.470Z,1628969288.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:08.471Z,1628969288.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:08.875Z,1628969288.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46A,000,00A50,18A,80,80,6B,FF
2021-08-14T19:28:08.875Z,1628969288.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:08.875Z,1628969288.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:08.877Z,1628969288.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:09.287Z,1628969289.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:09.688Z,1628969289.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,387,000,00A87,189,80,80,A6,FF
2021-08-14T19:28:09.689Z,1628969289.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:10.130Z,1628969290.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192810.84*51

2021-08-14T19:28:10.224Z,1628969290.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.200005 m, bearing: 126.386640 deg, deltaT: 4.430950 s, approachRate: 0.744762 m/s, LOS rate: -0.922134 deg/s, posRepo size: 4
2021-08-14T19:28:10.226Z,1628969290.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.200005 m,
      bearing: 126.386640 deg,
      approachRate: 0.744762 m/s,
      LOS rate: -0.922134 deg/s,
      cmd update: -3.688535 deg/s,
      cmd heading: 130.472568 deg,
      new cmd heading: 130.472568 deg.

2021-08-14T19:28:12.567Z,1628969292.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:12.925Z,1628969292.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:12.925Z,1628969292.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:12.925Z,1628969292.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:12.926Z,1628969292.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:13.321Z,1628969293.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
387,000,00A87,189,80,80,A6,FF
2021-08-14T19:28:13.321Z,1628969293.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:13.321Z,1628969293.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:13.323Z,1628969293.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:13.756Z,1628969293.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:14.562Z,1628969294.562 [Micromodem](INFO): Nmea in: $SNTTA,0.087354,,,,192815.29*40

2021-08-14T19:28:15.337Z,1628969295.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,03B63,185,80,80,A9,FF
2021-08-14T19:28:15.337Z,1628969295.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:15.795Z,1628969295.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 874.680054 m, bearing: 129.752380 deg, deltaT: 5.609573 s, approachRate: 133.785599 m/s, LOS rate: 0.599999 deg/s, posRepo size: 4
2021-08-14T19:28:15.797Z,1628969295.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 874.680054 m,
      bearing: 129.752380 deg,
      approachRate: 133.785599 m/s,
      LOS rate: 0.599999 deg/s,
      cmd update: 2.399997 deg/s,
      cmd heading: 109.739956 deg,
      new cmd heading: 108.121752 deg.

2021-08-14T19:28:18.224Z,1628969298.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:18.561Z,1628969298.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:18.561Z,1628969298.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:18.561Z,1628969298.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:18.562Z,1628969298.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:18.989Z,1628969298.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,03B63,185,80,80,A9,FF
2021-08-14T19:28:18.989Z,1628969298.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:18.990Z,1628969298.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:18.991Z,1628969298.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:18.994Z,1628969298.994 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T19:28:19.380Z,1628969299.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:19.797Z,1628969299.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA5,000,00AE0,187,80,80,6E,FF
2021-08-14T19:28:19.798Z,1628969299.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:20.229Z,1628969300.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192820.96*51

2021-08-14T19:28:20.274Z,1628969300.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.539993 m, bearing: 137.339231 deg, deltaT: 4.496688 s, approachRate: -165.708649 m/s, LOS rate: 1.687209 deg/s, posRepo size: 4
2021-08-14T19:28:20.277Z,1628969300.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.539993 m,
      bearing: 137.339231 deg,
      approachRate: -165.708649 m/s,
      LOS rate: 1.687209 deg/s,
      cmd update: 6.748835 deg/s,
      cmd heading: 120.521616 deg,
      new cmd heading: 121.544061 deg.

2021-08-14T19:28:22.634Z,1628969302.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:23.021Z,1628969303.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:23.021Z,1628969303.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:23.021Z,1628969303.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:23.022Z,1628969303.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:23.413Z,1628969303.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA5,000,00AE0,187,80,80,6E,FF
2021-08-14T19:28:23.413Z,1628969303.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:23.413Z,1628969303.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:23.415Z,1628969303.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:23.833Z,1628969303.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:24.297Z,1628969304.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,415,000,00AF5,189,80,80,A8,FF
2021-08-14T19:28:24.298Z,1628969304.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:24.793Z,1628969304.793 [Micromodem](INFO): Nmea in: $SNTTA,0.097419,,,,192825.38*4C

2021-08-14T19:28:24.853Z,1628969304.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 70.376821 deg, deltaT: 4.481518 s, approachRate: 0.281157 m/s, LOS rate: -14.941903 deg/s, posRepo size: 4
2021-08-14T19:28:24.854Z,1628969304.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.941903 deg/s. Setting heading cmd to target bearing of 70.376821deg and heading rate command to 0 deg/s.
2021-08-14T19:28:27.102Z,1628969307.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:27.453Z,1628969307.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:27.453Z,1628969307.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:27.453Z,1628969307.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:27.454Z,1628969307.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:27.870Z,1628969307.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
415,000,00AF5,189,80,80,A8,FF
2021-08-14T19:28:27.870Z,1628969307.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:27.871Z,1628969307.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:27.873Z,1628969307.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:28.277Z,1628969308.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:29.110Z,1628969309.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192829.84*5B

2021-08-14T19:28:29.933Z,1628969309.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:31.494Z,1628969311.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,189,80,80,A8,FF
2021-08-14T19:28:31.494Z,1628969311.494 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,189,80,80,A8,FF
2021-08-14T19:28:31.494Z,1628969311.494 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:28:32.796Z,1628969312.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:33.109Z,1628969313.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:33.109Z,1628969313.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:33.109Z,1628969313.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:33.110Z,1628969313.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:33.534Z,1628969313.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,189,80,80,A8,FF
2021-08-14T19:28:33.534Z,1628969313.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:33.535Z,1628969313.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:33.538Z,1628969313.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:33.920Z,1628969313.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:34.326Z,1628969314.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00B33,186,80,80,7B,FF
2021-08-14T19:28:34.326Z,1628969314.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:34.769Z,1628969314.769 [Micromodem](INFO): Nmea in: $SNTTA,0.089258,,,,192835.50*4F

2021-08-14T19:28:34.820Z,1628969314.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.520004 m, bearing: 136.915786 deg, deltaT: 10.088731 s, approachRate: 0.368728 m/s, LOS rate: 6.595375 deg/s, posRepo size: 4
2021-08-14T19:28:34.822Z,1628969314.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.520004 m,
      bearing: 136.915786 deg,
      approachRate: 0.368728 m/s,
      LOS rate: 6.595375 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 70.376821 deg,
      new cmd heading: 70.376821 deg.

2021-08-14T19:28:37.171Z,1628969317.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:37.618Z,1628969317.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:37.618Z,1628969317.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:37.618Z,1628969317.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:37.619Z,1628969317.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:38.117Z,1628969318.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00B33,186,80,80,7B,FF
2021-08-14T19:28:38.117Z,1628969318.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:38.118Z,1628969318.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:38.143Z,1628969318.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:38.471Z,1628969318.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:39.634Z,1628969319.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192840.11*58

2021-08-14T19:28:39.675Z,1628969319.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:41.653Z,1628969321.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,7B,FF
2021-08-14T19:28:41.654Z,1628969321.654 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,7B,FF
2021-08-14T19:28:41.654Z,1628969321.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:28:42.503Z,1628969322.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:42.865Z,1628969322.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:42.865Z,1628969322.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:42.865Z,1628969322.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:42.866Z,1628969322.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:43.265Z,1628969323.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,7B,FF
2021-08-14T19:28:43.265Z,1628969323.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:43.265Z,1628969323.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:43.267Z,1628969323.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:43.680Z,1628969323.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:44.089Z,1628969324.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6E,000,00B47,189,80,80,B6,FF
2021-08-14T19:28:44.090Z,1628969324.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:44.521Z,1628969324.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192845.23*5C

2021-08-14T19:28:44.551Z,1628969324.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.720001 m, bearing: 143.460597 deg, deltaT: 9.778426 s, approachRate: 0.122719 m/s, LOS rate: 0.669311 deg/s, posRepo size: 4
2021-08-14T19:28:44.553Z,1628969324.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.720001 m,
      bearing: 143.460597 deg,
      approachRate: 0.122719 m/s,
      LOS rate: 0.669311 deg/s,
      cmd update: 2.677245 deg/s,
      cmd heading: 187.768589 deg,
      new cmd heading: 191.964161 deg.

2021-08-14T19:28:46.943Z,1628969326.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:47.313Z,1628969327.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:47.313Z,1628969327.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:47.313Z,1628969327.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:47.314Z,1628969327.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:47.728Z,1628969327.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6E,000,00B47,189,80,80,B6,FF
2021-08-14T19:28:47.729Z,1628969327.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:47.729Z,1628969327.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:47.741Z,1628969327.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:48.124Z,1628969328.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:48.525Z,1628969328.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,00B52,187,80,80,B6,FF
2021-08-14T19:28:48.526Z,1628969328.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:48.943Z,1628969328.943 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192849.71*57

2021-08-14T19:28:48.994Z,1628969328.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 112.885938 deg, deltaT: 4.344916 s, approachRate: 0.151903 m/s, LOS rate: -7.036881 deg/s, posRepo size: 4
2021-08-14T19:28:49.010Z,1628969329.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.380005 m,
      bearing: 112.885938 deg,
      approachRate: 0.151903 m/s,
      LOS rate: -7.036881 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 199.400412 deg,
      new cmd heading: 200.594822 deg.

2021-08-14T19:28:51.062Z,1628969331.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:51.369Z,1628969331.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:51.369Z,1628969331.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:51.369Z,1628969331.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:51.370Z,1628969331.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:51.853Z,1628969331.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,00B52,187,80,80,B6,FF
2021-08-14T19:28:51.853Z,1628969331.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:51.853Z,1628969331.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:51.855Z,1628969331.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:52.276Z,1628969332.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:52.642Z,1628969332.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41C,000,00B68,189,80,80,B6,FF
2021-08-14T19:28:52.642Z,1628969332.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:53.078Z,1628969333.078 [Micromodem](INFO): Nmea in: $SNTTA,0.098038,,,,192853.82*44

2021-08-14T19:28:53.145Z,1628969333.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.700012 m, bearing: 86.273267 deg, deltaT: 4.117108 s, approachRate: 0.320615 m/s, LOS rate: -6.463923 deg/s, posRepo size: 4
2021-08-14T19:28:53.147Z,1628969333.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.700012 m,
      bearing: 86.273267 deg,
      approachRate: 0.320615 m/s,
      LOS rate: -6.463923 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 149.995439 deg,
      new cmd heading: 144.262547 deg.

2021-08-14T19:28:55.486Z,1628969335.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:28:55.865Z,1628969335.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:28:55.866Z,1628969335.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:28:55.866Z,1628969335.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:28:55.867Z,1628969335.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:28:56.273Z,1628969336.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41C,000,00B68,189,80,80,B6,FF
2021-08-14T19:28:56.274Z,1628969336.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:28:56.274Z,1628969336.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:28:56.275Z,1628969336.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:28:56.672Z,1628969336.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:28:57.090Z,1628969337.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00B8F,188,80,80,BD,FF
2021-08-14T19:28:57.090Z,1628969337.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:28:57.505Z,1628969337.505 [Micromodem](INFO): Nmea in: $SNTTA,0.095722,,,,192858.26*40

2021-08-14T19:28:57.544Z,1628969337.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.039993 m, bearing: 119.034529 deg, deltaT: 4.508445 s, approachRate: 0.519022 m/s, LOS rate: 7.266643 deg/s, posRepo size: 4
2021-08-14T19:28:57.546Z,1628969337.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.039993 m,
      bearing: 119.034529 deg,
      approachRate: 0.519022 m/s,
      LOS rate: 7.266643 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 96.027225 deg,
      new cmd heading: 91.478961 deg.

2021-08-14T19:28:59.945Z,1628969339.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:00.313Z,1628969340.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:00.313Z,1628969340.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:00.313Z,1628969340.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:00.314Z,1628969340.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:00.713Z,1628969340.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00B8F,188,80,80,BD,FF
2021-08-14T19:29:00.713Z,1628969340.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:00.714Z,1628969340.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:00.721Z,1628969340.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:01.132Z,1628969341.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:01.538Z,1628969341.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,00BB5,189,80,80,A0,FF
2021-08-14T19:29:01.538Z,1628969341.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:01.957Z,1628969341.957 [Micromodem](INFO): Nmea in: $SNTTA,0.097263,,,,192902.69*47

2021-08-14T19:29:02.063Z,1628969342.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.319992 m, bearing: 113.413051 deg, deltaT: 4.411367 s, approachRate: 0.516846 m/s, LOS rate: -1.274317 deg/s, posRepo size: 4
2021-08-14T19:29:02.066Z,1628969342.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.319992 m,
      bearing: 113.413051 deg,
      approachRate: 0.516846 m/s,
      LOS rate: -1.274317 deg/s,
      cmd update: -5.097266 deg/s,
      cmd heading: 149.050343 deg,
      new cmd heading: 154.846259 deg.

2021-08-14T19:29:04.407Z,1628969344.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:04.860Z,1628969344.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:04.860Z,1628969344.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:04.861Z,1628969344.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:04.861Z,1628969344.861 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:05.290Z,1628969345.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,00BB5,189,80,80,A0,FF
2021-08-14T19:29:05.290Z,1628969345.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:05.291Z,1628969345.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:05.294Z,1628969345.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:05.585Z,1628969345.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:06.385Z,1628969346.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00BD6,189,80,80,BE,FF
2021-08-14T19:29:06.385Z,1628969346.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:06.814Z,1628969346.814 [Micromodem](INFO): Nmea in: $SNTTA,0.098612,,,,192907.26*44

2021-08-14T19:29:06.862Z,1628969346.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 95.043510 deg, deltaT: 4.925993 s, approachRate: 0.401952 m/s, LOS rate: -3.729104 deg/s, posRepo size: 4
2021-08-14T19:29:06.864Z,1628969346.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.300003 m,
      bearing: 95.043510 deg,
      approachRate: 0.401952 m/s,
      LOS rate: -3.729104 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 123.962313 deg,
      new cmd heading: 122.122873 deg.

2021-08-14T19:29:09.234Z,1628969349.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:09.601Z,1628969349.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:09.601Z,1628969349.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:09.601Z,1628969349.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:09.602Z,1628969349.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:10.037Z,1628969350.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00BD6,189,80,80,BE,FF
2021-08-14T19:29:10.037Z,1628969350.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:10.037Z,1628969350.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:10.039Z,1628969350.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:10.545Z,1628969350.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:10.933Z,1628969350.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,292,000,00BFB,189,80,80,AD,FF
2021-08-14T19:29:10.933Z,1628969350.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:11.349Z,1628969351.349 [Micromodem](INFO): Nmea in: $SNTTA,0.102514,,,,192912.00*43

2021-08-14T19:29:11.389Z,1628969351.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 108.255438 deg, deltaT: 4.516827 s, approachRate: 0.491496 m/s, LOS rate: 2.925046 deg/s, posRepo size: 4
2021-08-14T19:29:11.391Z,1628969351.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 108.255438 deg,
      approachRate: 0.491496 m/s,
      LOS rate: 2.925046 deg/s,
      cmd update: 11.700186 deg/s,
      cmd heading: 69.662671 deg,
      new cmd heading: 65.306875 deg.

2021-08-14T19:29:13.835Z,1628969353.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:14.184Z,1628969354.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:14.185Z,1628969354.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:14.185Z,1628969354.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:14.186Z,1628969354.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:14.573Z,1628969354.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
292,000,00BFB,189,80,80,AD,FF
2021-08-14T19:29:14.573Z,1628969354.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:14.573Z,1628969354.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:14.575Z,1628969354.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:14.981Z,1628969354.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:15.818Z,1628969355.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192916.54*5B

2021-08-14T19:29:16.619Z,1628969356.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:18.212Z,1628969358.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,AD,FF
2021-08-14T19:29:18.213Z,1628969358.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,AD,FF
2021-08-14T19:29:18.213Z,1628969358.213 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:29:19.188Z,1628969359.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:19.433Z,1628969359.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:19.433Z,1628969359.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:19.433Z,1628969359.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:19.434Z,1628969359.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:19.845Z,1628969359.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,AD,FF
2021-08-14T19:29:19.845Z,1628969359.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:19.845Z,1628969359.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:19.847Z,1628969359.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:20.252Z,1628969360.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:20.626Z,1628969360.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,488,0063,E4
B,189,80,80,AD,FF
2021-08-14T19:29:20.626Z,1628969360.626 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,488,0063,E4
B,189,80,80,AD,FF
2021-08-14T19:29:21.055Z,1628969361.055 [Micromodem](INFO): Nmea in: $SNTTA,0.099474,,,,192921.81*4E

2021-08-14T19:29:21.870Z,1628969361.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:24.721Z,1628969364.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:25.488Z,1628969365.488 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.054247
2021-08-14T19:29:27.527Z,1628969367.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:27.902Z,1628969367.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:27.902Z,1628969367.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:27.903Z,1628969367.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:27.904Z,1628969367.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:28.313Z,1628969368.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,0063,E4
B,189,80,80,AD,FF
2021-08-14T19:29:28.313Z,1628969368.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:28.313Z,1628969368.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:28.315Z,1628969368.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:28.735Z,1628969368.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:29.127Z,1628969369.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00C5C,188,80,80,DD,FF
2021-08-14T19:29:29.128Z,1628969369.128 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:29.557Z,1628969369.557 [Micromodem](INFO): Nmea in: $SNTTA,0.108872,,,,192930.28*4E

2021-08-14T19:29:29.582Z,1628969369.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.340012 m, bearing: 103.231568 deg, deltaT: 18.120180 s, approachRate: 0.321189 m/s, LOS rate: -0.277253 deg/s, posRepo size: 4
2021-08-14T19:29:29.606Z,1628969369.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.340012 m,
      bearing: 103.231568 deg,
      approachRate: 0.321189 m/s,
      LOS rate: -0.277253 deg/s,
      cmd update: -1.109011 deg/s,
      cmd heading: 281.673149 deg,
      new cmd heading: 286.745624 deg.

2021-08-14T19:29:32.129Z,1628969372.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:32.365Z,1628969372.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:32.365Z,1628969372.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:32.365Z,1628969372.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:32.366Z,1628969372.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:32.857Z,1628969372.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00C5C,188,80,80,DD,FF
2021-08-14T19:29:32.857Z,1628969372.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:32.857Z,1628969372.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:32.859Z,1628969372.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:33.248Z,1628969373.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:34.081Z,1628969374.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00C86,187,80,80,A9,FF
2021-08-14T19:29:34.081Z,1628969374.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:34.084Z,1628969374.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192934.82*50

2021-08-14T19:29:34.467Z,1628969374.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.860016 m, bearing: 132.136963 deg, deltaT: 5.027864 s, approachRate: 0.501208 m/s, LOS rate: 5.749041 deg/s, posRepo size: 4
2021-08-14T19:29:34.501Z,1628969374.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 132.136963 deg,
      approachRate: 0.501208 m/s,
      LOS rate: 5.749041 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.102065 deg,
      new cmd heading: 275.773714 deg.

2021-08-14T19:29:36.876Z,1628969376.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:37.241Z,1628969377.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:37.241Z,1628969377.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:37.241Z,1628969377.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:37.242Z,1628969377.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:37.645Z,1628969377.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,00C86,187,80,80,A9,FF
2021-08-14T19:29:37.645Z,1628969377.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:37.645Z,1628969377.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:37.647Z,1628969377.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:38.080Z,1628969378.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:38.454Z,1628969378.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD1,000,00CC0,187,80,80,A9,FF
2021-08-14T19:29:38.454Z,1628969378.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:38.889Z,1628969378.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192939.62*53

2021-08-14T19:29:38.926Z,1628969378.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 205.148188 deg, deltaT: 4.327214 s, approachRate: 0.804208 m/s, LOS rate: 16.872570 deg/s, posRepo size: 4
2021-08-14T19:29:38.927Z,1628969378.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.872570 deg/s. Setting heading cmd to target bearing of 205.148188deg and heading rate command to 0 deg/s.
2021-08-14T19:29:41.317Z,1628969381.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:41.685Z,1628969381.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:41.685Z,1628969381.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:41.685Z,1628969381.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:41.686Z,1628969381.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:42.097Z,1628969382.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD1,000,00CC0,187,80,80,A9,FF
2021-08-14T19:29:42.097Z,1628969382.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:42.097Z,1628969382.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:42.099Z,1628969382.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:42.515Z,1628969382.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:42.906Z,1628969382.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00CFA,183,80,80,A9,FF
2021-08-14T19:29:42.906Z,1628969382.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:43.354Z,1628969383.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192944.06*5B

2021-08-14T19:29:43.376Z,1628969383.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.820007 m, bearing: 195.199485 deg, deltaT: 4.462687 s, approachRate: 0.779802 m/s, LOS rate: -2.229308 deg/s, posRepo size: 4
2021-08-14T19:29:43.378Z,1628969383.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 195.199485 deg,
      approachRate: 0.779802 m/s,
      LOS rate: -2.229308 deg/s,
      cmd update: -8.917231 deg/s,
      cmd heading: 205.148188 deg,
      new cmd heading: 205.148188 deg.

2021-08-14T19:29:45.997Z,1628969385.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:46.205Z,1628969386.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:46.205Z,1628969386.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:46.205Z,1628969386.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:46.206Z,1628969386.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:46.665Z,1628969386.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00CFA,183,80,80,A9,FF
2021-08-14T19:29:46.665Z,1628969386.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:46.665Z,1628969386.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:46.667Z,1628969386.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:47.053Z,1628969387.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:47.843Z,1628969387.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00D3A,185,80,80,28,FF
2021-08-14T19:29:47.845Z,1628969387.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:47.852Z,1628969387.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192948.63*54

2021-08-14T19:29:48.288Z,1628969388.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 218.572528 deg, deltaT: 4.951563 s, approachRate: 0.775515 m/s, LOS rate: 4.720336 deg/s, posRepo size: 4
2021-08-14T19:29:48.290Z,1628969388.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.660019 m,
      bearing: 218.572528 deg,
      approachRate: 0.775515 m/s,
      LOS rate: 4.720336 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 160.959633 deg,
      new cmd heading: 157.640408 deg.

2021-08-14T19:29:50.693Z,1628969390.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:51.053Z,1628969391.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:51.053Z,1628969391.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:51.053Z,1628969391.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:51.054Z,1628969391.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:51.457Z,1628969391.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00D3A,185,80,80,28,FF
2021-08-14T19:29:51.457Z,1628969391.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:51.458Z,1628969391.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:51.460Z,1628969391.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:51.876Z,1628969391.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:52.266Z,1628969392.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,00D3A,185,80,80,28,FF
2021-08-14T19:29:52.266Z,1628969392.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:52.722Z,1628969392.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192953.43*5C

2021-08-14T19:29:52.781Z,1628969392.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 245.801023 deg, deltaT: 4.449536 s, approachRate: 0.000000 m/s, LOS rate: 6.119401 deg/s, posRepo size: 4
2021-08-14T19:29:52.783Z,1628969392.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.660019 m,
      bearing: 245.801023 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.119401 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 214.345140 deg,
      new cmd heading: 219.289392 deg.

2021-08-14T19:29:55.142Z,1628969395.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:29:55.500Z,1628969395.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:29:55.500Z,1628969395.500 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:29:55.501Z,1628969395.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:29:55.501Z,1628969395.501 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:29:55.910Z,1628969395.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,00D3A,185,80,80,28,FF
2021-08-14T19:29:55.910Z,1628969395.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:29:55.910Z,1628969395.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:29:55.912Z,1628969395.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:29:56.310Z,1628969396.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:29:56.729Z,1628969396.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,00D3A,185,80,80,28,FF
2021-08-14T19:29:56.731Z,1628969396.731 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:29:57.154Z,1628969397.154 [Micromodem](INFO): Nmea in: $SNTTA,0.117493,,,,192957.88*48

2021-08-14T19:29:57.176Z,1628969397.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 201.553309 deg, deltaT: 4.446830 s, approachRate: 0.000000 m/s, LOS rate: -9.950395 deg/s, posRepo size: 4
2021-08-14T19:29:57.178Z,1628969397.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.660019 m,
      bearing: 201.553309 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.950395 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 267.670477 deg,
      new cmd heading: 272.083694 deg.

2021-08-14T19:29:59.595Z,1628969399.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:00.073Z,1628969400.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:00.073Z,1628969400.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:00.074Z,1628969400.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:00.074Z,1628969400.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:00.397Z,1628969400.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,00D3A,185,80,80,28,FF
2021-08-14T19:30:00.397Z,1628969400.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:00.397Z,1628969400.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:00.399Z,1628969400.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:00.797Z,1628969400.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:01.557Z,1628969401.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00DEC,186,80,80,4B,FF
2021-08-14T19:30:01.558Z,1628969401.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:01.986Z,1628969401.986 [Micromodem](INFO): Nmea in: $SNTTA,0.119811,,,,193002.37*4C

2021-08-14T19:30:02.051Z,1628969402.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.340012 m, bearing: 232.612419 deg, deltaT: 4.815357 s, approachRate: 2.217903 m/s, LOS rate: 6.450012 deg/s, posRepo size: 4
2021-08-14T19:30:02.053Z,1628969402.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.340012 m,
      bearing: 232.612419 deg,
      approachRate: 2.217903 m/s,
      LOS rate: 6.450012 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.984196 deg,
      new cmd heading: 204.759972 deg.

2021-08-14T19:30:04.415Z,1628969404.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:04.793Z,1628969404.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:04.793Z,1628969404.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:04.793Z,1628969404.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:04.794Z,1628969404.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:05.193Z,1628969405.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00DEC,186,80,80,4B,FF
2021-08-14T19:30:05.193Z,1628969405.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:05.193Z,1628969405.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:05.195Z,1628969405.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:05.633Z,1628969405.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:06.069Z,1628969406.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00E12,187,80,80,97,FF
2021-08-14T19:30:06.069Z,1628969406.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:06.453Z,1628969406.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193007.16*55

2021-08-14T19:30:06.512Z,1628969406.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.619995 m, bearing: 266.664655 deg, deltaT: 4.516920 s, approachRate: 0.504765 m/s, LOS rate: 7.538818 deg/s, posRepo size: 4
2021-08-14T19:30:06.514Z,1628969406.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.619995 m,
      bearing: 266.664655 deg,
      approachRate: 0.504765 m/s,
      LOS rate: 7.538818 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 264.333385 deg,
      new cmd heading: 268.698589 deg.

2021-08-14T19:30:08.905Z,1628969408.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:09.257Z,1628969409.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:09.257Z,1628969409.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:09.258Z,1628969409.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:09.259Z,1628969409.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:09.661Z,1628969409.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00E12,187,80,80,97,FF
2021-08-14T19:30:09.661Z,1628969409.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:09.661Z,1628969409.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:09.663Z,1628969409.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:10.073Z,1628969410.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:10.482Z,1628969410.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00E12,187,80,80,97,FF
2021-08-14T19:30:10.483Z,1628969410.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:10.913Z,1628969410.913 [Micromodem](INFO): Nmea in: $SNTTA,,0.062232,,,193011.63*49

2021-08-14T19:30:10.954Z,1628969410.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.619995 m, bearing: 265.218213 deg, deltaT: 4.387162 s, approachRate: 0.000000 m/s, LOS rate: -0.329699 deg/s, posRepo size: 4
2021-08-14T19:30:10.956Z,1628969410.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.619995 m,
      bearing: 265.218213 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.329699 deg/s,
      cmd update: -1.318796 deg/s,
      cmd heading: 316.680351 deg,
      new cmd heading: 322.044675 deg.

2021-08-14T19:30:13.057Z,1628969413.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:13.317Z,1628969413.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:13.317Z,1628969413.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:13.317Z,1628969413.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:13.318Z,1628969413.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:13.749Z,1628969413.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00E12,187,80,80,97,FF
2021-08-14T19:30:13.749Z,1628969413.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:13.749Z,1628969413.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:13.751Z,1628969413.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:14.156Z,1628969414.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:14.925Z,1628969414.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00E71,186,80,80,9D,FF
2021-08-14T19:30:14.925Z,1628969414.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:15.364Z,1628969415.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.320007 m, bearing: 269.027027 deg, deltaT: 4.440403 s, approachRate: 1.283670 m/s, LOS rate: 0.857763 deg/s, posRepo size: 4
2021-08-14T19:30:15.370Z,1628969415.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.320007 m,
      bearing: 269.027027 deg,
      approachRate: 1.283670 m/s,
      LOS rate: 0.857763 deg/s,
      cmd update: 3.431052 deg/s,
      cmd heading: 310.791766 deg,
      new cmd heading: 310.274957 deg.

2021-08-14T19:30:17.816Z,1628969417.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:18.145Z,1628969418.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:18.145Z,1628969418.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:18.145Z,1628969418.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:18.146Z,1628969418.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:18.561Z,1628969418.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00E71,186,80,80,9D,FF
2021-08-14T19:30:18.561Z,1628969418.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:18.561Z,1628969418.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:18.563Z,1628969418.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:18.965Z,1628969418.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:19.797Z,1628969419.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,00E97,187,80,80,9E,FF
2021-08-14T19:30:19.797Z,1628969419.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:19.800Z,1628969419.800 [Micromodem](INFO): Nmea in: $SNTTA,0.246975,,,,193020.53*44

2021-08-14T19:30:20.236Z,1628969420.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.599991 m, bearing: 255.362304 deg, deltaT: 4.853938 s, approachRate: 0.469718 m/s, LOS rate: -2.815183 deg/s, posRepo size: 4
2021-08-14T19:30:20.238Z,1628969420.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.599991 m,
      bearing: 255.362304 deg,
      approachRate: 0.469718 m/s,
      LOS rate: -2.815183 deg/s,
      cmd update: -11.260731 deg/s,
      cmd heading: 327.446702 deg,
      new cmd heading: 328.853619 deg.

2021-08-14T19:30:22.631Z,1628969422.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:22.997Z,1628969422.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:22.997Z,1628969422.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:22.997Z,1628969422.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:22.998Z,1628969422.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:23.403Z,1628969423.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,00E97,187,80,80,9E,FF
2021-08-14T19:30:23.403Z,1628969423.403 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:23.403Z,1628969423.403 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:23.407Z,1628969423.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:23.814Z,1628969423.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:24.645Z,1628969424.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,00EA9,188,80,80,AF,FF
2021-08-14T19:30:24.645Z,1628969424.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:24.649Z,1628969424.649 [Micromodem](INFO): Nmea in: $SNTTA,0.127156,,,,193025.37*4E

2021-08-14T19:30:25.078Z,1628969425.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.679993 m, bearing: 333.469889 deg, deltaT: 4.838028 s, approachRate: 0.223232 m/s, LOS rate: 16.144508 deg/s, posRepo size: 4
2021-08-14T19:30:25.079Z,1628969425.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.144508 deg/s. Setting heading cmd to target bearing of 333.469889deg and heading rate command to 0 deg/s.
2021-08-14T19:30:27.525Z,1628969427.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:27.861Z,1628969427.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:27.861Z,1628969427.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:27.861Z,1628969427.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:27.862Z,1628969427.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:28.245Z,1628969428.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,00EA9,188,80,80,AF,FF
2021-08-14T19:30:28.245Z,1628969428.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:28.245Z,1628969428.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:28.247Z,1628969428.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:28.653Z,1628969428.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:29.490Z,1628969429.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00EAF,189,80,80,87,FF
2021-08-14T19:30:29.490Z,1628969429.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:29.495Z,1628969429.495 [Micromodem](INFO): Nmea in: $SNTTA,0.124979,,,,193030.21*4B

2021-08-14T19:30:29.937Z,1628969429.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.039993 m, bearing: 15.799187 deg, deltaT: 4.889366 s, approachRate: 0.073629 m/s, LOS rate: 8.657420 deg/s, posRepo size: 4
2021-08-14T19:30:29.946Z,1628969429.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.039993 m,
      bearing: 15.799187 deg,
      approachRate: 0.073629 m/s,
      LOS rate: 8.657420 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 333.469889 deg,
      new cmd heading: 333.469889 deg.

2021-08-14T19:30:32.340Z,1628969432.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:32.689Z,1628969432.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:32.690Z,1628969432.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:32.690Z,1628969432.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:32.690Z,1628969432.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:33.113Z,1628969433.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00EAF,189,80,80,87,FF
2021-08-14T19:30:33.113Z,1628969433.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:33.113Z,1628969433.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:33.115Z,1628969433.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:33.520Z,1628969433.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:34.322Z,1628969434.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,00EB9,189,80,80,AC,FF
2021-08-14T19:30:34.323Z,1628969434.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:34.325Z,1628969434.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193035.08*5B

2021-08-14T19:30:34.772Z,1628969434.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.639984 m, bearing: 336.434956 deg, deltaT: 4.819909 s, approachRate: 0.124482 m/s, LOS rate: -8.167007 deg/s, posRepo size: 4
2021-08-14T19:30:34.776Z,1628969434.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 336.434956 deg,
      approachRate: 0.124482 m/s,
      LOS rate: -8.167007 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 31.309494 deg,
      new cmd heading: 36.204546 deg.

2021-08-14T19:30:37.163Z,1628969437.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:37.565Z,1628969437.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:37.565Z,1628969437.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:37.565Z,1628969437.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:37.566Z,1628969437.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:37.953Z,1628969437.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,00EB9,189,80,80,AC,FF
2021-08-14T19:30:37.953Z,1628969437.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:37.953Z,1628969437.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:37.955Z,1628969437.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:38.357Z,1628969438.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:38.787Z,1628969438.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00EB9,189,80,80,AC,FF
2021-08-14T19:30:38.788Z,1628969438.788 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:39.261Z,1628969439.261 [Micromodem](INFO): Nmea in: $SNTTA,0.125421,,,,193039.92*4B

2021-08-14T19:30:39.283Z,1628969439.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.639984 m, bearing: 27.080488 deg, deltaT: 4.450825 s, approachRate: 0.000000 m/s, LOS rate: 11.378911 deg/s, posRepo size: 4
2021-08-14T19:30:39.286Z,1628969439.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 27.080488 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 11.378911 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.765025 deg,
      new cmd heading: 332.238365 deg.

2021-08-14T19:30:41.618Z,1628969441.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:42.000Z,1628969442.000 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:42.001Z,1628969442.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:42.001Z,1628969442.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:42.003Z,1628969442.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:42.390Z,1628969442.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00EB9,189,80,80,AC,FF
2021-08-14T19:30:42.390Z,1628969442.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:42.390Z,1628969442.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:42.392Z,1628969442.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:42.797Z,1628969442.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:43.621Z,1628969443.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6D,000,00EAE,189,80,80,B9,FF
2021-08-14T19:30:43.622Z,1628969443.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:43.625Z,1628969443.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193044.36*50

2021-08-14T19:30:44.122Z,1628969444.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 29.873192 deg, deltaT: 4.851971 s, approachRate: -0.136028 m/s, LOS rate: 0.575581 deg/s, posRepo size: 4
2021-08-14T19:30:44.128Z,1628969444.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 29.873192 deg,
      approachRate: -0.136028 m/s,
      LOS rate: 0.575581 deg/s,
      cmd update: 2.302325 deg/s,
      cmd heading: 35.952726 deg,
      new cmd heading: 41.352018 deg.

2021-08-14T19:30:46.459Z,1628969446.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:46.837Z,1628969446.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:46.837Z,1628969446.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:46.837Z,1628969446.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:46.838Z,1628969446.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:47.233Z,1628969447.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6D,000,00EAE,189,80,80,B9,FF
2021-08-14T19:30:47.233Z,1628969447.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:47.233Z,1628969447.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:47.235Z,1628969447.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:47.641Z,1628969447.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:48.467Z,1628969448.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193049.20*5A

2021-08-14T19:30:49.295Z,1628969449.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:50.873Z,1628969450.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,B9,FF
2021-08-14T19:30:50.873Z,1628969450.873 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,B9,FF
2021-08-14T19:30:50.873Z,1628969450.873 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:30:52.153Z,1628969452.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:52.490Z,1628969452.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:52.490Z,1628969452.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:52.490Z,1628969452.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:52.491Z,1628969452.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:52.957Z,1628969452.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,B9,FF
2021-08-14T19:30:52.957Z,1628969452.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:52.957Z,1628969452.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:52.959Z,1628969452.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:53.312Z,1628969453.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:53.806Z,1628969453.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00E6B,187,80,80,B9,FF
2021-08-14T19:30:53.807Z,1628969453.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:54.144Z,1628969454.144 [Micromodem](INFO): Nmea in: $SNTTA,0.125190,,,,193054.93*4E

2021-08-14T19:30:54.224Z,1628969454.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.960007 m, bearing: 35.462561 deg, deltaT: 10.182648 s, approachRate: -0.394787 m/s, LOS rate: 0.548911 deg/s, posRepo size: 4
2021-08-14T19:30:54.226Z,1628969454.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 35.462561 deg,
      approachRate: -0.394787 m/s,
      LOS rate: 0.548911 deg/s,
      cmd update: 2.195645 deg/s,
      cmd heading: 59.405489 deg,
      new cmd heading: 60.237565 deg.

2021-08-14T19:30:56.567Z,1628969456.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:30:56.937Z,1628969456.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:30:56.937Z,1628969456.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:30:56.937Z,1628969456.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:30:56.938Z,1628969456.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:30:57.338Z,1628969457.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00E6B,187,80,80,B9,FF
2021-08-14T19:30:57.338Z,1628969457.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:30:57.338Z,1628969457.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:30:57.340Z,1628969457.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:30:57.753Z,1628969457.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:30:58.569Z,1628969458.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00E4A,186,80,80,A3,FF
2021-08-14T19:30:58.570Z,1628969458.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:30:58.573Z,1628969458.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193059.31*5B

2021-08-14T19:30:58.988Z,1628969458.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.979996 m, bearing: 33.982660 deg, deltaT: 4.753445 s, approachRate: -0.416542 m/s, LOS rate: -0.311332 deg/s, posRepo size: 4
2021-08-14T19:30:58.990Z,1628969458.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.979996 m,
      bearing: 33.982660 deg,
      approachRate: -0.416542 m/s,
      LOS rate: -0.311332 deg/s,
      cmd update: -1.245329 deg/s,
      cmd heading: 69.789783 deg,
      new cmd heading: 70.668015 deg.

2021-08-14T19:31:01.391Z,1628969461.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:01.785Z,1628969461.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:01.786Z,1628969461.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:01.786Z,1628969461.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:01.787Z,1628969461.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:02.186Z,1628969462.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00E4A,186,80,80,A3,FF
2021-08-14T19:31:02.186Z,1628969462.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:02.186Z,1628969462.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:02.188Z,1628969462.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:02.596Z,1628969462.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:03.426Z,1628969463.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30E,000,00E34,188,80,80,B8,FF
2021-08-14T19:31:03.426Z,1628969463.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:03.429Z,1628969463.429 [Micromodem](INFO): Nmea in: $SNTTA,0.122543,,,,193104.15*49

2021-08-14T19:31:03.847Z,1628969463.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.660004 m, bearing: 24.433957 deg, deltaT: 4.858033 s, approachRate: -0.271713 m/s, LOS rate: -1.965549 deg/s, posRepo size: 4
2021-08-14T19:31:03.849Z,1628969463.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.660004 m,
      bearing: 24.433957 deg,
      approachRate: -0.271713 m/s,
      LOS rate: -1.965549 deg/s,
      cmd update: -7.862197 deg/s,
      cmd heading: 63.741606 deg,
      new cmd heading: 63.240450 deg.

2021-08-14T19:31:06.289Z,1628969466.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:06.800Z,1628969466.800 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:06.800Z,1628969466.800 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:06.801Z,1628969466.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:06.801Z,1628969466.801 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:07.081Z,1628969467.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30E,000,00E34,188,80,80,B8,FF
2021-08-14T19:31:07.081Z,1628969467.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:07.082Z,1628969467.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:07.083Z,1628969467.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:07.498Z,1628969467.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:07.902Z,1628969467.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AE,000,00E34,188,80,80,B8,FF
2021-08-14T19:31:07.902Z,1628969467.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:08.305Z,1628969468.305 [Micromodem](INFO): Nmea in: $SNTTA,0.120802,,,,193109.05*4F

2021-08-14T19:31:08.348Z,1628969468.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.660004 m, bearing: 23.824366 deg, deltaT: 4.558724 s, approachRate: 0.000000 m/s, LOS rate: -0.133720 deg/s, posRepo size: 4
2021-08-14T19:31:08.350Z,1628969468.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.660004 m,
      bearing: 23.824366 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.133720 deg/s,
      cmd update: -0.534879 deg/s,
      cmd heading: 27.778798 deg,
      new cmd heading: 25.192395 deg.

2021-08-14T19:31:10.761Z,1628969470.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:11.109Z,1628969471.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:11.109Z,1628969471.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:11.109Z,1628969471.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:11.110Z,1628969471.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:11.524Z,1628969471.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AE,000,00E34,188,80,80,B8,FF
2021-08-14T19:31:11.525Z,1628969471.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:11.525Z,1628969471.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:11.527Z,1628969471.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:11.920Z,1628969471.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:12.746Z,1628969472.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,00DEE,189,80,80,B8,FF
2021-08-14T19:31:12.746Z,1628969472.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:12.749Z,1628969472.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193113.49*5B

2021-08-14T19:31:13.161Z,1628969473.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.459991 m, bearing: 25.084373 deg, deltaT: 4.778614 s, approachRate: -0.878918 m/s, LOS rate: 0.263676 deg/s, posRepo size: 4
2021-08-14T19:31:13.163Z,1628969473.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.459991 m,
      bearing: 25.084373 deg,
      approachRate: -0.878918 m/s,
      LOS rate: 0.263676 deg/s,
      cmd update: 1.054706 deg/s,
      cmd heading: 25.223936 deg,
      new cmd heading: 25.028487 deg.

2021-08-14T19:31:15.570Z,1628969475.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:15.949Z,1628969475.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:15.949Z,1628969475.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:15.949Z,1628969475.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:15.950Z,1628969475.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:16.361Z,1628969476.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,00DEE,189,80,80,B8,FF
2021-08-14T19:31:16.361Z,1628969476.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:16.361Z,1628969476.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:16.363Z,1628969476.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:16.788Z,1628969476.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:17.178Z,1628969477.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00DEE,189,80,80,B8,FF
2021-08-14T19:31:17.178Z,1628969477.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:17.613Z,1628969477.613 [Micromodem](INFO): Nmea in: $SNTTA,0.119506,,,,193118.33*49

2021-08-14T19:31:17.634Z,1628969477.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.459991 m, bearing: 34.874065 deg, deltaT: 4.422518 s, approachRate: 0.000000 m/s, LOS rate: 2.213601 deg/s, posRepo size: 4
2021-08-14T19:31:17.636Z,1628969477.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.459991 m,
      bearing: 34.874065 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.213601 deg/s,
      cmd update: 8.854405 deg/s,
      cmd heading: 29.896511 deg,
      new cmd heading: 30.327162 deg.

2021-08-14T19:31:20.174Z,1628969480.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:20.545Z,1628969480.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:20.545Z,1628969480.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:20.545Z,1628969480.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:20.546Z,1628969480.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:20.836Z,1628969480.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00DEE,189,80,80,B8,FF
2021-08-14T19:31:20.837Z,1628969480.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:20.837Z,1628969480.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:20.838Z,1628969480.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:21.249Z,1628969481.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:22.077Z,1628969482.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00DA2,184,80,80,C6,FF
2021-08-14T19:31:22.077Z,1628969482.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:22.080Z,1628969482.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193122.80*5C

2021-08-14T19:31:22.456Z,1628969482.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 34.064329 deg, deltaT: 4.945455 s, approachRate: -0.922058 m/s, LOS rate: -0.163733 deg/s, posRepo size: 4
2021-08-14T19:31:22.459Z,1628969482.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.899994 m,
      bearing: 34.064329 deg,
      approachRate: -0.922058 m/s,
      LOS rate: -0.163733 deg/s,
      cmd update: -0.654933 deg/s,
      cmd heading: 73.688258 deg,
      new cmd heading: 76.206132 deg.

2021-08-14T19:31:24.869Z,1628969484.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:25.255Z,1628969485.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:25.255Z,1628969485.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:25.255Z,1628969485.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:25.256Z,1628969485.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:25.658Z,1628969485.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00DA2,184,80,80,C6,FF
2021-08-14T19:31:25.658Z,1628969485.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:25.658Z,1628969485.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:25.660Z,1628969485.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:26.072Z,1628969486.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:26.471Z,1628969486.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,00D72,184,80,80,C6,FF
2021-08-14T19:31:26.472Z,1628969486.472 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:26.922Z,1628969486.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 28.478988 deg, deltaT: 4.322859 s, approachRate: -0.666227 m/s, LOS rate: -1.292048 deg/s, posRepo size: 4
2021-08-14T19:31:26.925Z,1628969486.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.019989 m,
      bearing: 28.478988 deg,
      approachRate: -0.666227 m/s,
      LOS rate: -1.292048 deg/s,
      cmd update: -5.168192 deg/s,
      cmd heading: 70.855505 deg,
      new cmd heading: 70.576627 deg.

2021-08-14T19:31:29.349Z,1628969489.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:29.695Z,1628969489.695 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:29.696Z,1628969489.696 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:29.697Z,1628969489.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:29.698Z,1628969489.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:30.093Z,1628969490.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,00D72,184,80,80,C6,FF
2021-08-14T19:31:30.093Z,1628969490.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:30.093Z,1628969490.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:30.095Z,1628969490.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:30.505Z,1628969490.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:30.902Z,1628969490.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,00D72,184,80,80,C6,FF
2021-08-14T19:31:30.902Z,1628969490.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:31.345Z,1628969491.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193132.06*53

2021-08-14T19:31:31.381Z,1628969491.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 21.427325 deg, deltaT: 4.484249 s, approachRate: 0.000000 m/s, LOS rate: -1.572540 deg/s, posRepo size: 4
2021-08-14T19:31:31.383Z,1628969491.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.019989 m,
      bearing: 21.427325 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.572540 deg/s,
      cmd update: -6.290162 deg/s,
      cmd heading: 47.723898 deg,
      new cmd heading: 45.612464 deg.

2021-08-14T19:31:33.827Z,1628969493.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:34.145Z,1628969494.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:34.145Z,1628969494.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:34.145Z,1628969494.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:34.146Z,1628969494.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:34.609Z,1628969494.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,00D72,184,80,80,C6,FF
2021-08-14T19:31:34.609Z,1628969494.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:34.610Z,1628969494.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:34.611Z,1628969494.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:35.136Z,1628969495.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:35.498Z,1628969495.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,00D4A,189,80,80,B5,FF
2021-08-14T19:31:35.498Z,1628969495.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:35.917Z,1628969495.917 [Micromodem](INFO): Nmea in: $SNTTA,0.120975,,,,193136.58*4A

2021-08-14T19:31:36.026Z,1628969496.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.619995 m, bearing: 21.322355 deg, deltaT: 4.537296 s, approachRate: -0.528948 m/s, LOS rate: -0.023135 deg/s, posRepo size: 4
2021-08-14T19:31:36.032Z,1628969496.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.619995 m,
      bearing: 21.322355 deg,
      approachRate: -0.528948 m/s,
      LOS rate: -0.023135 deg/s,
      cmd update: -0.092539 deg/s,
      cmd heading: 19.119606 deg,
      new cmd heading: 15.935992 deg.

2021-08-14T19:31:38.394Z,1628969498.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:38.741Z,1628969498.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:38.741Z,1628969498.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:38.742Z,1628969498.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:38.742Z,1628969498.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:39.137Z,1628969499.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,00D4A,189,80,80,B5,FF
2021-08-14T19:31:39.137Z,1628969499.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:39.137Z,1628969499.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:39.139Z,1628969499.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:39.545Z,1628969499.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:39.946Z,1628969499.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00D2A,189,80,80,B5,FF
2021-08-14T19:31:39.946Z,1628969499.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:40.361Z,1628969500.361 [Micromodem](INFO): Nmea in: $SNTTA,,0.322907,,,193141.11*42

2021-08-14T19:31:40.434Z,1628969500.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.700012 m, bearing: 30.319691 deg, deltaT: 4.612012 s, approachRate: -0.416301 m/s, LOS rate: 1.950848 deg/s, posRepo size: 4
2021-08-14T19:31:40.436Z,1628969500.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.700012 m,
      bearing: 30.319691 deg,
      approachRate: -0.416301 m/s,
      LOS rate: 1.950848 deg/s,
      cmd update: 7.803394 deg/s,
      cmd heading: 18.693513 deg,
      new cmd heading: 18.664935 deg.

2021-08-14T19:31:42.850Z,1628969502.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:43.165Z,1628969503.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:43.165Z,1628969503.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:43.166Z,1628969503.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:43.167Z,1628969503.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:43.561Z,1628969503.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00D2A,189,80,80,B5,FF
2021-08-14T19:31:43.561Z,1628969503.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:43.561Z,1628969503.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:43.563Z,1628969503.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:44.024Z,1628969504.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:44.374Z,1628969504.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00D05,183,80,80,B5,FF
2021-08-14T19:31:44.374Z,1628969504.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:44.837Z,1628969504.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193145.53*53

2021-08-14T19:31:44.889Z,1628969504.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.480011 m, bearing: 33.223966 deg, deltaT: 4.291393 s, approachRate: -0.517315 m/s, LOS rate: 0.676767 deg/s, posRepo size: 4
2021-08-14T19:31:44.891Z,1628969504.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.480011 m,
      bearing: 33.223966 deg,
      approachRate: -0.517315 m/s,
      LOS rate: 0.676767 deg/s,
      cmd update: 2.707070 deg/s,
      cmd heading: 52.020973 deg,
      new cmd heading: 55.686055 deg.

2021-08-14T19:31:47.265Z,1628969507.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:47.625Z,1628969507.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:47.625Z,1628969507.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:47.625Z,1628969507.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:47.626Z,1628969507.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:48.145Z,1628969508.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00D05,183,80,80,B5,FF
2021-08-14T19:31:48.145Z,1628969508.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:48.146Z,1628969508.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:48.147Z,1628969508.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:48.573Z,1628969508.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:48.949Z,1628969508.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,00CE0,183,80,80,B5,FF
2021-08-14T19:31:48.950Z,1628969508.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:49.361Z,1628969509.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193150.11*51

2021-08-14T19:31:49.383Z,1628969509.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.260010 m, bearing: 30.817950 deg, deltaT: 4.576789 s, approachRate: -0.485056 m/s, LOS rate: -0.525700 deg/s, posRepo size: 4
2021-08-14T19:31:49.386Z,1628969509.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.260010 m,
      bearing: 30.817950 deg,
      approachRate: -0.485056 m/s,
      LOS rate: -0.525700 deg/s,
      cmd update: -2.102798 deg/s,
      cmd heading: 64.443017 deg,
      new cmd heading: 65.524830 deg.

2021-08-14T19:31:51.838Z,1628969511.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:52.174Z,1628969512.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:52.174Z,1628969512.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:52.175Z,1628969512.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:52.176Z,1628969512.176 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:52.553Z,1628969512.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,00CE0,183,80,80,B5,FF
2021-08-14T19:31:52.553Z,1628969512.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:52.554Z,1628969512.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:52.555Z,1628969512.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:52.970Z,1628969512.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:53.366Z,1628969513.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00CBE,189,80,80,B5,FF
2021-08-14T19:31:53.367Z,1628969513.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:53.825Z,1628969513.825 [Micromodem](INFO): Nmea in: $SNTTA,0.107766,,,,193154.52*4D

2021-08-14T19:31:53.863Z,1628969513.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.220016 m, bearing: 23.347567 deg, deltaT: 4.426019 s, approachRate: -0.460909 m/s, LOS rate: -1.687833 deg/s, posRepo size: 4
2021-08-14T19:31:53.865Z,1628969513.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.220016 m,
      bearing: 23.347567 deg,
      approachRate: -0.460909 m/s,
      LOS rate: -1.687833 deg/s,
      cmd update: -6.751334 deg/s,
      cmd heading: 55.110546 deg,
      new cmd heading: 54.183964 deg.

2021-08-14T19:31:56.282Z,1628969516.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:31:56.601Z,1628969516.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:31:56.601Z,1628969516.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:31:56.601Z,1628969516.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:31:56.602Z,1628969516.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:31:57.021Z,1628969517.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00CBE,189,80,80,B5,FF
2021-08-14T19:31:57.021Z,1628969517.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:31:57.021Z,1628969517.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:31:57.023Z,1628969517.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:31:57.423Z,1628969517.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:31:57.853Z,1628969517.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31C,000,00CA3,189,80,80,B1,FF
2021-08-14T19:31:57.853Z,1628969517.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:31:58.233Z,1628969518.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193158.99*59

2021-08-14T19:31:58.281Z,1628969518.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.600006 m, bearing: 23.254105 deg, deltaT: 4.479229 s, approachRate: -0.361672 m/s, LOS rate: -0.020866 deg/s, posRepo size: 4
2021-08-14T19:31:58.283Z,1628969518.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.600006 m,
      bearing: 23.254105 deg,
      approachRate: -0.361672 m/s,
      LOS rate: -0.020866 deg/s,
      cmd update: -0.083463 deg/s,
      cmd heading: 25.006706 deg,
      new cmd heading: 22.310264 deg.

2021-08-14T19:32:00.704Z,1628969520.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:01.137Z,1628969521.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:01.137Z,1628969521.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:01.137Z,1628969521.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:01.138Z,1628969521.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:01.474Z,1628969521.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31C,000,00CA3,189,80,80,B1,FF
2021-08-14T19:32:01.474Z,1628969521.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:01.474Z,1628969521.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:01.481Z,1628969521.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:01.886Z,1628969521.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:02.686Z,1628969522.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193203.45*55

2021-08-14T19:32:03.519Z,1628969523.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:05.086Z,1628969525.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,08985,186,80,80,AA,FF
2021-08-14T19:32:05.086Z,1628969525.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:05.520Z,1628969525.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2074.800049 m, bearing: 30.025604 deg, deltaT: 7.261118 s, approachRate: 264.174194 m/s, LOS rate: 0.932570 deg/s, posRepo size: 4
2021-08-14T19:32:05.522Z,1628969525.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2074.800049 m,
      bearing: 30.025604 deg,
      approachRate: 264.174194 m/s,
      LOS rate: 0.932570 deg/s,
      cmd update: 3.730279 deg/s,
      cmd heading: 24.398643 deg,
      new cmd heading: 24.369101 deg.

2021-08-14T19:32:08.003Z,1628969528.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:08.323Z,1628969528.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:08.323Z,1628969528.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:08.323Z,1628969528.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:08.325Z,1628969528.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:08.741Z,1628969528.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,08985,186,80,80,AA,FF
2021-08-14T19:32:08.741Z,1628969528.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:08.742Z,1628969528.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:08.743Z,1628969528.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:09.141Z,1628969529.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:09.544Z,1628969529.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC7,000,00C4F,184,80,80,AA,FF
2021-08-14T19:32:09.545Z,1628969529.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:09.981Z,1628969529.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193210.71*50

2021-08-14T19:32:10.069Z,1628969530.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.559998 m, bearing: 32.227271 deg, deltaT: 4.399130 s, approachRate: -437.186432 m/s, LOS rate: 0.500478 deg/s, posRepo size: 4
2021-08-14T19:32:10.071Z,1628969530.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.559998 m,
      bearing: 32.227271 deg,
      approachRate: -437.186432 m/s,
      LOS rate: 0.500478 deg/s,
      cmd update: 2.001911 deg/s,
      cmd heading: 40.806866 deg,
      new cmd heading: 42.684390 deg.

2021-08-14T19:32:12.453Z,1628969532.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:12.785Z,1628969532.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:12.786Z,1628969532.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:12.786Z,1628969532.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:12.787Z,1628969532.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:13.169Z,1628969533.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC7,000,00C4F,184,80,80,AA,FF
2021-08-14T19:32:13.169Z,1628969533.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:13.169Z,1628969533.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:13.171Z,1628969533.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:13.581Z,1628969533.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:14.172Z,1628969534.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00C2E,186,80,80,AE,FF
2021-08-14T19:32:14.173Z,1628969534.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:14.466Z,1628969534.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193215.14*56

2021-08-14T19:32:14.508Z,1628969534.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.580002 m, bearing: 30.031768 deg, deltaT: 4.687151 s, approachRate: -0.422431 m/s, LOS rate: -0.468409 deg/s, posRepo size: 4
2021-08-14T19:32:14.510Z,1628969534.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.580002 m,
      bearing: 30.031768 deg,
      approachRate: -0.422431 m/s,
      LOS rate: -0.468409 deg/s,
      cmd update: -1.873635 deg/s,
      cmd heading: 50.174716 deg,
      new cmd heading: 50.693551 deg.

2021-08-14T19:32:16.885Z,1628969536.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:17.258Z,1628969537.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:17.259Z,1628969537.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:17.259Z,1628969537.259 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:17.276Z,1628969537.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:17.661Z,1628969537.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00C2E,186,80,80,AE,FF
2021-08-14T19:32:17.661Z,1628969537.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:17.661Z,1628969537.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:17.663Z,1628969537.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:18.096Z,1628969538.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:18.478Z,1628969538.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,00C08,186,80,80,81,FF
2021-08-14T19:32:18.478Z,1628969538.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:18.934Z,1628969538.934 [Micromodem](INFO): Nmea in: $SNTTA,0.061959,,,,193219.63*46

2021-08-14T19:32:18.961Z,1628969538.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.300003 m, bearing: 25.596154 deg, deltaT: 4.272620 s, approachRate: -0.533630 m/s, LOS rate: -1.038148 deg/s, posRepo size: 4
2021-08-14T19:32:18.963Z,1628969538.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.300003 m,
      bearing: 25.596154 deg,
      approachRate: -0.533630 m/s,
      LOS rate: -1.038148 deg/s,
      cmd update: -4.152594 deg/s,
      cmd heading: 42.199840 deg,
      new cmd heading: 41.336746 deg.

2021-08-14T19:32:21.351Z,1628969541.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:21.702Z,1628969541.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:21.702Z,1628969541.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:21.703Z,1628969541.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:21.704Z,1628969541.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:22.109Z,1628969542.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E9,000,00C08,186,80,80,81,FF
2021-08-14T19:32:22.109Z,1628969542.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:22.109Z,1628969542.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:22.111Z,1628969542.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:22.521Z,1628969542.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:22.933Z,1628969542.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00BE9,186,80,80,8C,FF
2021-08-14T19:32:22.934Z,1628969542.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:23.354Z,1628969543.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193224.08*59

2021-08-14T19:32:23.387Z,1628969543.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.440002 m, bearing: 29.740638 deg, deltaT: 4.489202 s, approachRate: -0.414328 m/s, LOS rate: 0.923212 deg/s, posRepo size: 4
2021-08-14T19:32:23.390Z,1628969543.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.440002 m,
      bearing: 29.740638 deg,
      approachRate: -0.414328 m/s,
      LOS rate: 0.923212 deg/s,
      cmd update: 3.692847 deg/s,
      cmd heading: 23.456478 deg,
      new cmd heading: 21.907789 deg.

2021-08-14T19:32:25.819Z,1628969545.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:26.145Z,1628969546.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:26.145Z,1628969546.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:26.145Z,1628969546.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:26.146Z,1628969546.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:26.549Z,1628969546.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,00BE9,186,80,80,8C,FF
2021-08-14T19:32:26.549Z,1628969546.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:26.549Z,1628969546.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:26.551Z,1628969546.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:26.974Z,1628969546.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:27.441Z,1628969547.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00BC9,183,80,80,A0,FF
2021-08-14T19:32:27.441Z,1628969547.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:27.929Z,1628969547.929 [Micromodem](INFO): Nmea in: $SNTTA,0.105313,,,,193228.52*41

2021-08-14T19:32:28.038Z,1628969548.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.520004 m, bearing: 32.538232 deg, deltaT: 4.447867 s, approachRate: -0.431667 m/s, LOS rate: 0.628974 deg/s, posRepo size: 4
2021-08-14T19:32:28.044Z,1628969548.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.520004 m,
      bearing: 32.538232 deg,
      approachRate: -0.431667 m/s,
      LOS rate: 0.628974 deg/s,
      cmd update: 2.515897 deg/s,
      cmd heading: 39.869826 deg,
      new cmd heading: 42.008679 deg.

2021-08-14T19:32:30.310Z,1628969550.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:30.625Z,1628969550.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:30.625Z,1628969550.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:30.625Z,1628969550.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:30.626Z,1628969550.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:31.029Z,1628969551.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00BC9,183,80,80,A0,FF
2021-08-14T19:32:31.029Z,1628969551.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:31.030Z,1628969551.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:31.031Z,1628969551.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:31.448Z,1628969551.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:31.845Z,1628969551.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00BA7,184,80,80,88,FF
2021-08-14T19:32:31.846Z,1628969551.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:32.249Z,1628969552.249 [Micromodem](INFO): Nmea in: $SNTTA,0.378642,0.378642,,,193233.00*57

2021-08-14T19:32:32.309Z,1628969552.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.479996 m, bearing: 31.905702 deg, deltaT: 4.483927 s, approachRate: -0.454960 m/s, LOS rate: -0.141066 deg/s, posRepo size: 4
2021-08-14T19:32:32.311Z,1628969552.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 31.905702 deg,
      approachRate: -0.454960 m/s,
      LOS rate: -0.141066 deg/s,
      cmd update: -0.564264 deg/s,
      cmd heading: 51.133932 deg,
      new cmd heading: 52.061447 deg.

2021-08-14T19:32:34.687Z,1628969554.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:35.069Z,1628969555.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:35.069Z,1628969555.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:35.069Z,1628969555.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:35.070Z,1628969555.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:35.501Z,1628969555.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00BA7,184,80,80,88,FF
2021-08-14T19:32:35.501Z,1628969555.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:35.501Z,1628969555.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:35.503Z,1628969555.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:35.885Z,1628969555.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:36.288Z,1628969556.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,00B81,186,80,80,88,FF
2021-08-14T19:32:36.289Z,1628969556.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:36.721Z,1628969556.721 [Micromodem](INFO): Nmea in: $SNTTA,0.099117,,,,193237.47*49

2021-08-14T19:32:36.792Z,1628969556.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.199997 m, bearing: 25.826072 deg, deltaT: 4.403691 s, approachRate: -0.517747 m/s, LOS rate: -1.380576 deg/s, posRepo size: 4
2021-08-14T19:32:36.796Z,1628969556.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.199997 m,
      bearing: 25.826072 deg,
      approachRate: -0.517747 m/s,
      LOS rate: -1.380576 deg/s,
      cmd update: -5.522304 deg/s,
      cmd heading: 48.646357 deg,
      new cmd heading: 48.394830 deg.

2021-08-14T19:32:39.138Z,1628969559.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:39.525Z,1628969559.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:39.525Z,1628969559.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:39.525Z,1628969559.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:39.526Z,1628969559.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:39.917Z,1628969559.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,00B81,186,80,80,88,FF
2021-08-14T19:32:39.917Z,1628969559.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:39.917Z,1628969559.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:39.919Z,1628969559.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:40.324Z,1628969560.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:40.831Z,1628969560.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,00B62,188,80,80,B1,FF
2021-08-14T19:32:40.831Z,1628969560.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:41.177Z,1628969561.177 [Micromodem](INFO): Nmea in: $SNTTA,0.400206,,,,193241.89*4D

2021-08-14T19:32:41.203Z,1628969561.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.339996 m, bearing: 22.568345 deg, deltaT: 4.541400 s, approachRate: -0.409565 m/s, LOS rate: -0.717340 deg/s, posRepo size: 4
2021-08-14T19:32:41.206Z,1628969561.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 22.568345 deg,
      approachRate: -0.409565 m/s,
      LOS rate: -0.717340 deg/s,
      cmd update: -2.869359 deg/s,
      cmd heading: 23.649824 deg,
      new cmd heading: 21.814945 deg.

2021-08-14T19:32:43.575Z,1628969563.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:43.993Z,1628969563.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:43.993Z,1628969563.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:43.994Z,1628969563.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:43.995Z,1628969563.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:44.365Z,1628969564.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,00B62,188,80,80,B1,FF
2021-08-14T19:32:44.365Z,1628969564.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:44.365Z,1628969564.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:44.367Z,1628969564.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:44.785Z,1628969564.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:45.177Z,1628969565.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00B41,184,80,80,9D,FF
2021-08-14T19:32:45.177Z,1628969565.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:45.621Z,1628969565.621 [Micromodem](INFO): Nmea in: $SNTTA,0.246404,,,,193246.33*4B

2021-08-14T19:32:45.643Z,1628969565.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.360001 m, bearing: 32.364428 deg, deltaT: 4.338045 s, approachRate: -0.456426 m/s, LOS rate: 2.258179 deg/s, posRepo size: 4
2021-08-14T19:32:45.646Z,1628969565.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.360001 m,
      bearing: 32.364428 deg,
      approachRate: -0.456426 m/s,
      LOS rate: 2.258179 deg/s,
      cmd update: 9.032717 deg/s,
      cmd heading: 11.151816 deg,
      new cmd heading: 9.956843 deg.

2021-08-14T19:32:48.122Z,1628969568.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:48.405Z,1628969568.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:48.406Z,1628969568.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:48.406Z,1628969568.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:48.407Z,1628969568.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:48.805Z,1628969568.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00B41,184,80,80,9D,FF
2021-08-14T19:32:48.805Z,1628969568.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:48.806Z,1628969568.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:48.807Z,1628969568.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:49.217Z,1628969569.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:49.617Z,1628969569.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,00B21,186,80,80,A1,FF
2021-08-14T19:32:49.618Z,1628969569.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:50.089Z,1628969570.089 [Micromodem](INFO): Nmea in: $SNTTA,0.091135,,,,193250.77*43

2021-08-14T19:32:50.171Z,1628969570.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.440002 m, bearing: 33.297643 deg, deltaT: 4.405488 s, approachRate: -0.435820 m/s, LOS rate: 0.211830 deg/s, posRepo size: 4
2021-08-14T19:32:50.177Z,1628969570.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.440002 m,
      bearing: 33.297643 deg,
      approachRate: -0.435820 m/s,
      LOS rate: 0.211830 deg/s,
      cmd update: 0.847321 deg/s,
      cmd heading: 50.964329 deg,
      new cmd heading: 55.807663 deg.

2021-08-14T19:32:52.145Z,1628969572.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:52.441Z,1628969572.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:52.441Z,1628969572.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:52.441Z,1628969572.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:52.442Z,1628969572.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:52.845Z,1628969572.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,00B21,186,80,80,A1,FF
2021-08-14T19:32:52.845Z,1628969572.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:52.845Z,1628969572.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:52.847Z,1628969572.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:53.261Z,1628969573.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:53.661Z,1628969573.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00B04,187,80,80,A5,FF
2021-08-14T19:32:53.662Z,1628969573.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:54.117Z,1628969574.117 [Micromodem](INFO): Nmea in: $SNTTA,0.091013,,,,193254.81*4B

2021-08-14T19:32:54.180Z,1628969574.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.700012 m, bearing: 32.150120 deg, deltaT: 4.118752 s, approachRate: -0.422456 m/s, LOS rate: -0.278609 deg/s, posRepo size: 4
2021-08-14T19:32:54.182Z,1628969574.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.700012 m,
      bearing: 32.150120 deg,
      approachRate: -0.422456 m/s,
      LOS rate: -0.278609 deg/s,
      cmd update: -1.114438 deg/s,
      cmd heading: 54.451158 deg,
      new cmd heading: 54.815902 deg.

2021-08-14T19:32:56.539Z,1628969576.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:32:56.905Z,1628969576.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:32:56.905Z,1628969576.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:32:56.905Z,1628969576.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:32:56.906Z,1628969576.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:32:57.309Z,1628969577.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00B04,187,80,80,A5,FF
2021-08-14T19:32:57.309Z,1628969577.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:32:57.310Z,1628969577.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:32:57.311Z,1628969577.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:32:57.745Z,1628969577.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:32:58.138Z,1628969578.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00AE2,186,80,80,A7,FF
2021-08-14T19:32:58.139Z,1628969578.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:32:58.142Z,1628969578.142 [Micromodem](INFO): Nmea in: $SNTTA,0.236016,0.236328,,,193259.28*5F

2021-08-14T19:32:58.566Z,1628969578.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.660004 m, bearing: 26.592259 deg, deltaT: 4.424005 s, approachRate: -0.461123 m/s, LOS rate: -1.256296 deg/s, posRepo size: 4
2021-08-14T19:32:58.569Z,1628969578.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.660004 m,
      bearing: 26.592259 deg,
      approachRate: -0.461123 m/s,
      LOS rate: -1.256296 deg/s,
      cmd update: -5.025186 deg/s,
      cmd heading: 49.516420 deg,
      new cmd heading: 49.083232 deg.

2021-08-14T19:33:00.988Z,1628969580.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:01.349Z,1628969581.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:01.349Z,1628969581.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:01.349Z,1628969581.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:01.350Z,1628969581.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:01.793Z,1628969581.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00AE2,186,80,80,A7,FF
2021-08-14T19:33:01.793Z,1628969581.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:01.793Z,1628969581.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:01.795Z,1628969581.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:02.172Z,1628969582.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:02.570Z,1628969582.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00ABF,189,80,80,A7,FF
2021-08-14T19:33:02.570Z,1628969582.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:02.987Z,1628969582.987 [Micromodem](INFO): Nmea in: $SNTTA,0.035151,,,,193303.76*49

2021-08-14T19:33:03.033Z,1628969583.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 21.072030 deg, deltaT: 4.443690 s, approachRate: -0.472580 m/s, LOS rate: -1.242262 deg/s, posRepo size: 4
2021-08-14T19:33:03.035Z,1628969583.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.560005 m,
      bearing: 21.072030 deg,
      approachRate: -0.472580 m/s,
      LOS rate: -1.242262 deg/s,
      cmd update: -4.969050 deg/s,
      cmd heading: 27.205610 deg,
      new cmd heading: 25.117052 deg.

2021-08-14T19:33:05.421Z,1628969585.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:05.793Z,1628969585.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:05.793Z,1628969585.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:05.793Z,1628969585.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:05.794Z,1628969585.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:06.206Z,1628969586.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00ABF,189,80,80,A7,FF
2021-08-14T19:33:06.206Z,1628969586.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:06.206Z,1628969586.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:06.208Z,1628969586.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:06.609Z,1628969586.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:07.021Z,1628969587.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00AA0,186,80,80,AD,FF
2021-08-14T19:33:07.022Z,1628969587.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:07.521Z,1628969587.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193308.18*57

2021-08-14T19:33:07.543Z,1628969587.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.700005 m, bearing: 30.295106 deg, deltaT: 4.450955 s, approachRate: -0.417888 m/s, LOS rate: 2.072157 deg/s, posRepo size: 4
2021-08-14T19:33:07.546Z,1628969587.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.700005 m,
      bearing: 30.295106 deg,
      approachRate: -0.417888 m/s,
      LOS rate: 2.072157 deg/s,
      cmd update: 8.288627 deg/s,
      cmd heading: 5.069686 deg,
      new cmd heading: 2.727679 deg.

2021-08-14T19:33:09.882Z,1628969589.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:10.237Z,1628969590.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:10.237Z,1628969590.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:10.237Z,1628969590.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:10.238Z,1628969590.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:10.646Z,1628969590.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00AA0,186,80,80,AD,FF
2021-08-14T19:33:10.646Z,1628969590.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:10.646Z,1628969590.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:10.648Z,1628969590.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:11.049Z,1628969591.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:11.453Z,1628969591.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00A7D,187,80,80,B6,FF
2021-08-14T19:33:11.454Z,1628969591.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:11.898Z,1628969591.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193312.62*51

2021-08-14T19:33:11.923Z,1628969591.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 32.013162 deg, deltaT: 4.433083 s, approachRate: -0.473711 m/s, LOS rate: 0.387553 deg/s, posRepo size: 4
2021-08-14T19:33:11.926Z,1628969591.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.600006 m,
      bearing: 32.013162 deg,
      approachRate: -0.473711 m/s,
      LOS rate: 0.387553 deg/s,
      cmd update: 1.550213 deg/s,
      cmd heading: 41.802931 deg,
      new cmd heading: 45.279322 deg.

2021-08-14T19:33:14.343Z,1628969594.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:14.689Z,1628969594.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:14.690Z,1628969594.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:14.690Z,1628969594.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:14.691Z,1628969594.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:15.085Z,1628969595.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00A7D,187,80,80,B6,FF
2021-08-14T19:33:15.085Z,1628969595.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:15.085Z,1628969595.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:15.087Z,1628969595.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:15.537Z,1628969595.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:15.897Z,1628969595.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00A5F,186,80,80,AD,FF
2021-08-14T19:33:15.898Z,1628969595.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:16.313Z,1628969596.313 [Micromodem](INFO): Nmea in: $SNTTA,0.080945,0.350193,,,193317.05*58

2021-08-14T19:33:16.336Z,1628969596.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.800003 m, bearing: 33.337457 deg, deltaT: 4.525154 s, approachRate: -0.397777 m/s, LOS rate: 0.292652 deg/s, posRepo size: 4
2021-08-14T19:33:16.338Z,1628969596.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.800003 m,
      bearing: 33.337457 deg,
      approachRate: -0.397777 m/s,
      LOS rate: 0.292652 deg/s,
      cmd update: 1.170608 deg/s,
      cmd heading: 48.819669 deg,
      new cmd heading: 49.292930 deg.

2021-08-14T19:33:18.775Z,1628969598.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:19.129Z,1628969599.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:19.129Z,1628969599.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:19.129Z,1628969599.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:19.130Z,1628969599.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:19.541Z,1628969599.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00A5F,186,80,80,AD,FF
2021-08-14T19:33:19.542Z,1628969599.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:19.542Z,1628969599.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:19.544Z,1628969599.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:19.946Z,1628969599.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:20.341Z,1628969600.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,00A3E,186,80,80,B4,FF
2021-08-14T19:33:20.342Z,1628969600.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:20.853Z,1628969600.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193321.51*51

2021-08-14T19:33:20.891Z,1628969600.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.820000 m, bearing: 30.091939 deg, deltaT: 4.373026 s, approachRate: -0.452776 m/s, LOS rate: -0.742168 deg/s, posRepo size: 4
2021-08-14T19:33:20.893Z,1628969600.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.820000 m,
      bearing: 30.091939 deg,
      approachRate: -0.452776 m/s,
      LOS rate: -0.742168 deg/s,
      cmd update: -2.968670 deg/s,
      cmd heading: 53.910646 deg,
      new cmd heading: 54.509517 deg.

2021-08-14T19:33:22.040Z,1628969602.040 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T19:33:23.199Z,1628969603.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:23.573Z,1628969603.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:23.573Z,1628969603.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:23.573Z,1628969603.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:23.574Z,1628969603.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:23.992Z,1628969603.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,00A3E,186,80,80,B4,FF
2021-08-14T19:33:23.993Z,1628969603.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:23.993Z,1628969603.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:24.000Z,1628969604.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:24.381Z,1628969604.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:24.793Z,1628969604.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00A19,189,80,80,AD,FF
2021-08-14T19:33:24.794Z,1628969604.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:25.209Z,1628969605.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193325.97*5F

2021-08-14T19:33:25.241Z,1628969605.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.599998 m, bearing: 21.519629 deg, deltaT: 4.443943 s, approachRate: -0.499557 m/s, LOS rate: -1.928987 deg/s, posRepo size: 4
2021-08-14T19:33:25.243Z,1628969605.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.599998 m,
      bearing: 21.519629 deg,
      approachRate: -0.499557 m/s,
      LOS rate: -1.928987 deg/s,
      cmd update: -7.715949 deg/s,
      cmd heading: 40.646149 deg,
      new cmd heading: 39.491687 deg.

2021-08-14T19:33:27.627Z,1628969607.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:28.049Z,1628969608.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:28.049Z,1628969608.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:28.049Z,1628969608.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:28.050Z,1628969608.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:28.421Z,1628969608.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,00A19,189,80,80,AD,FF
2021-08-14T19:33:28.421Z,1628969608.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:28.421Z,1628969608.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:28.423Z,1628969608.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:28.833Z,1628969608.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:29.240Z,1628969609.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00A00,189,80,80,A5,FF
2021-08-14T19:33:29.241Z,1628969609.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:29.673Z,1628969609.673 [Micromodem](INFO): Nmea in: $SNTTA,0.084409,,,,193330.39*40

2021-08-14T19:33:29.746Z,1628969609.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.099998 m, bearing: 23.352077 deg, deltaT: 4.410347 s, approachRate: -0.340109 m/s, LOS rate: 0.415488 deg/s, posRepo size: 4
2021-08-14T19:33:29.752Z,1628969609.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.099998 m,
      bearing: 23.352077 deg,
      approachRate: -0.340109 m/s,
      LOS rate: 0.415488 deg/s,
      cmd update: 1.661953 deg/s,
      cmd heading: 6.616416 deg,
      new cmd heading: 2.849567 deg.

2021-08-14T19:33:32.140Z,1628969612.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:32.458Z,1628969612.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:32.458Z,1628969612.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:32.458Z,1628969612.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:32.459Z,1628969612.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:32.865Z,1628969612.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00A00,189,80,80,A5,FF
2021-08-14T19:33:32.865Z,1628969612.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:32.866Z,1628969612.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:32.867Z,1628969612.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:33.280Z,1628969613.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:33.674Z,1628969613.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,009E0,186,80,80,A4,FF
2021-08-14T19:33:33.674Z,1628969613.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:34.185Z,1628969614.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193334.84*5D

2021-08-14T19:33:34.254Z,1628969614.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.180008 m, bearing: 31.316749 deg, deltaT: 4.494251 s, approachRate: -0.427210 m/s, LOS rate: 1.772191 deg/s, posRepo size: 4
2021-08-14T19:33:34.256Z,1628969614.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.180008 m,
      bearing: 31.316749 deg,
      approachRate: -0.427210 m/s,
      LOS rate: 1.772191 deg/s,
      cmd update: 7.088764 deg/s,
      cmd heading: 14.084607 deg,
      new cmd heading: 14.919912 deg.

2021-08-14T19:33:36.579Z,1628969616.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:36.933Z,1628969616.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:36.933Z,1628969616.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:36.933Z,1628969616.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:36.934Z,1628969616.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:37.325Z,1628969617.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,009E0,186,80,80,A4,FF
2021-08-14T19:33:37.325Z,1628969617.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:37.325Z,1628969617.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:37.327Z,1628969617.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:37.766Z,1628969617.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:38.137Z,1628969618.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,009C0,186,80,80,AF,FF
2021-08-14T19:33:38.138Z,1628969618.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:38.573Z,1628969618.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193339.30*5F

2021-08-14T19:33:38.592Z,1628969618.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.260002 m, bearing: 31.457843 deg, deltaT: 4.453992 s, approachRate: -0.431075 m/s, LOS rate: 0.031678 deg/s, posRepo size: 4
2021-08-14T19:33:38.594Z,1628969618.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.260002 m,
      bearing: 31.457843 deg,
      approachRate: -0.431075 m/s,
      LOS rate: 0.031678 deg/s,
      cmd update: 0.126713 deg/s,
      cmd heading: 45.436043 deg,
      new cmd heading: 48.396389 deg.

2021-08-14T19:33:41.001Z,1628969621.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:41.353Z,1628969621.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:41.354Z,1628969621.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:41.354Z,1628969621.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:41.355Z,1628969621.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:41.789Z,1628969621.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,009C0,186,80,80,AF,FF
2021-08-14T19:33:41.789Z,1628969621.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:41.790Z,1628969621.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:41.791Z,1628969621.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:42.232Z,1628969622.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:42.629Z,1628969622.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,002,000,0099A,183,80,80,D1,FF
2021-08-14T19:33:42.629Z,1628969622.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:43.057Z,1628969623.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193343.76*50

2021-08-14T19:33:43.094Z,1628969623.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.980003 m, bearing: 31.353276 deg, deltaT: 4.490152 s, approachRate: -0.507778 m/s, LOS rate: -0.023288 deg/s, posRepo size: 4
2021-08-14T19:33:43.097Z,1628969623.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.980003 m,
      bearing: 31.353276 deg,
      approachRate: -0.507778 m/s,
      LOS rate: -0.023288 deg/s,
      cmd update: -0.093152 deg/s,
      cmd heading: 46.009022 deg,
      new cmd heading: 46.059482 deg.

2021-08-14T19:33:45.548Z,1628969625.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:45.865Z,1628969625.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:45.865Z,1628969625.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:45.865Z,1628969625.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:45.866Z,1628969625.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:46.267Z,1628969626.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
002,000,0099A,183,80,80,D1,FF
2021-08-14T19:33:46.267Z,1628969626.267 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:46.267Z,1628969626.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:46.269Z,1628969626.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:46.692Z,1628969626.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:47.077Z,1628969627.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00978,185,80,80,AD,FF
2021-08-14T19:33:47.078Z,1628969627.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:47.585Z,1628969627.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193348.24*5C

2021-08-14T19:33:47.627Z,1628969627.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 27.801563 deg, deltaT: 4.434390 s, approachRate: -0.460041 m/s, LOS rate: -0.800948 deg/s, posRepo size: 4
2021-08-14T19:33:47.634Z,1628969627.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.940002 m,
      bearing: 27.801563 deg,
      approachRate: -0.460041 m/s,
      LOS rate: -0.800948 deg/s,
      cmd update: -3.203790 deg/s,
      cmd heading: 45.595930 deg,
      new cmd heading: 45.549639 deg.

2021-08-14T19:33:50.025Z,1628969630.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:50.313Z,1628969630.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:50.313Z,1628969630.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:50.313Z,1628969630.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:50.314Z,1628969630.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:50.749Z,1628969630.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00978,185,80,80,AD,FF
2021-08-14T19:33:50.749Z,1628969630.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:50.749Z,1628969630.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:50.751Z,1628969630.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:51.117Z,1628969631.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:51.529Z,1628969631.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00959,18A,80,80,73,FF
2021-08-14T19:33:51.530Z,1628969631.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:51.960Z,1628969631.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193352.72*54

2021-08-14T19:33:52.043Z,1628969632.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.080002 m, bearing: 23.247107 deg, deltaT: 4.453167 s, approachRate: -0.417680 m/s, LOS rate: -1.022745 deg/s, posRepo size: 4
2021-08-14T19:33:52.045Z,1628969632.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 23.247107 deg,
      approachRate: -0.417680 m/s,
      LOS rate: -1.022745 deg/s,
      cmd update: -4.090981 deg/s,
      cmd heading: 31.341614 deg,
      new cmd heading: 29.857340 deg.

2021-08-14T19:33:54.405Z,1628969634.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:54.793Z,1628969634.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:54.793Z,1628969634.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:54.793Z,1628969634.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:54.794Z,1628969634.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:55.173Z,1628969635.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00959,18A,80,80,73,FF
2021-08-14T19:33:55.173Z,1628969635.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:55.173Z,1628969635.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:55.175Z,1628969635.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:33:55.601Z,1628969635.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:33:56.001Z,1628969636.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,0093B,186,80,80,95,FF
2021-08-14T19:33:56.002Z,1628969636.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:33:56.425Z,1628969636.425 [Micromodem](INFO): Nmea in: $SNTTA,0.071666,,,,193357.15*4E

2021-08-14T19:33:56.444Z,1628969636.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.280006 m, bearing: 33.425986 deg, deltaT: 4.519320 s, approachRate: -0.398289 m/s, LOS rate: 2.252303 deg/s, posRepo size: 4
2021-08-14T19:33:56.446Z,1628969636.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 33.425986 deg,
      approachRate: -0.398289 m/s,
      LOS rate: 2.252303 deg/s,
      cmd update: 9.009212 deg/s,
      cmd heading: 12.902519 deg,
      new cmd heading: 11.442403 deg.

2021-08-14T19:33:58.840Z,1628969638.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:33:59.201Z,1628969639.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:33:59.201Z,1628969639.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:33:59.201Z,1628969639.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:33:59.202Z,1628969639.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:33:59.602Z,1628969639.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,0093B,186,80,80,95,FF
2021-08-14T19:33:59.602Z,1628969639.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:33:59.602Z,1628969639.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:33:59.605Z,1628969639.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:00.121Z,1628969640.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:00.385Z,1628969640.385 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T19:34:00.390Z,1628969640.390 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T19:34:00.433Z,1628969640.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00914,186,80,80,A8,FF
2021-08-14T19:34:00.434Z,1628969640.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:00.855Z,1628969640.855 [Micromodem](INFO): Nmea in: $SNTTA,0.071238,,,,193401.57*43

2021-08-14T19:34:00.905Z,1628969640.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.940002 m, bearing: 30.423049 deg, deltaT: 4.413265 s, approachRate: -0.530221 m/s, LOS rate: -0.680434 deg/s, posRepo size: 4
2021-08-14T19:34:00.907Z,1628969640.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.940002 m,
      bearing: 30.423049 deg,
      approachRate: -0.530221 m/s,
      LOS rate: -0.680434 deg/s,
      cmd update: -2.721737 deg/s,
      cmd heading: 52.554261 deg,
      new cmd heading: 56.309454 deg.

2021-08-14T19:34:03.260Z,1628969643.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:03.657Z,1628969643.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:03.657Z,1628969643.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:03.657Z,1628969643.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:03.658Z,1628969643.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:04.061Z,1628969644.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00914,186,80,80,A8,FF
2021-08-14T19:34:04.061Z,1628969644.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:04.062Z,1628969644.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:04.063Z,1628969644.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:04.477Z,1628969644.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:04.861Z,1628969644.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,008F3,185,80,80,A7,FF
2021-08-14T19:34:04.862Z,1628969644.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:05.322Z,1628969645.322 [Micromodem](INFO): Nmea in: $SNTTA,0.092648,,,,193406.04*4C

2021-08-14T19:34:05.367Z,1628969645.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.960007 m, bearing: 31.472374 deg, deltaT: 4.413958 s, approachRate: -0.448576 m/s, LOS rate: 0.237729 deg/s, posRepo size: 4
2021-08-14T19:34:05.370Z,1628969645.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.960007 m,
      bearing: 31.472374 deg,
      approachRate: -0.448576 m/s,
      LOS rate: 0.237729 deg/s,
      cmd update: 0.950916 deg/s,
      cmd heading: 40.475379 deg,
      new cmd heading: 39.274274 deg.

2021-08-14T19:34:07.769Z,1628969647.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:08.101Z,1628969648.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:08.101Z,1628969648.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:08.101Z,1628969648.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:08.102Z,1628969648.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:08.515Z,1628969648.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,008F3,185,80,80,A7,FF
2021-08-14T19:34:08.515Z,1628969648.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:08.516Z,1628969648.516 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:08.518Z,1628969648.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:08.909Z,1628969648.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:09.333Z,1628969649.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,008CF,185,80,80,98,FF
2021-08-14T19:34:09.334Z,1628969649.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:09.749Z,1628969649.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193410.49*5D

2021-08-14T19:34:09.791Z,1628969649.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 27.181214 deg, deltaT: 4.464399 s, approachRate: -0.483829 m/s, LOS rate: -0.961196 deg/s, posRepo size: 4
2021-08-14T19:34:09.794Z,1628969649.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.800003 m,
      bearing: 27.181214 deg,
      approachRate: -0.483829 m/s,
      LOS rate: -0.961196 deg/s,
      cmd update: -3.844782 deg/s,
      cmd heading: 44.720725 deg,
      new cmd heading: 45.101846 deg.

2021-08-14T19:34:12.194Z,1628969652.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:12.553Z,1628969652.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:12.553Z,1628969652.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:12.553Z,1628969652.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:12.554Z,1628969652.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:12.953Z,1628969652.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,008CF,185,80,80,98,FF
2021-08-14T19:34:12.954Z,1628969652.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:12.954Z,1628969652.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:12.955Z,1628969652.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:13.357Z,1628969653.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:13.792Z,1628969653.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,008AA,188,80,80,72,FF
2021-08-14T19:34:13.793Z,1628969653.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:14.177Z,1628969654.177 [Micromodem](INFO): Nmea in: $SNTTA,0.454401,0.455226,,,193414.92*5D

2021-08-14T19:34:14.251Z,1628969654.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.580002 m, bearing: 23.240205 deg, deltaT: 4.425301 s, approachRate: -0.501661 m/s, LOS rate: -0.890563 deg/s, posRepo size: 4
2021-08-14T19:34:14.259Z,1628969654.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.580002 m,
      bearing: 23.240205 deg,
      approachRate: -0.501661 m/s,
      LOS rate: -0.890563 deg/s,
      cmd update: -3.562252 deg/s,
      cmd heading: 27.690757 deg,
      new cmd heading: 26.036275 deg.

2021-08-14T19:34:16.599Z,1628969656.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:16.985Z,1628969656.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:16.985Z,1628969656.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:16.985Z,1628969656.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:16.986Z,1628969656.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:17.397Z,1628969657.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,008AA,188,80,80,72,FF
2021-08-14T19:34:17.397Z,1628969657.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:17.397Z,1628969657.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:17.399Z,1628969657.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:17.793Z,1628969657.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:18.197Z,1628969658.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,0088E,186,80,80,95,FF
2021-08-14T19:34:18.198Z,1628969658.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:18.645Z,1628969658.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193419.37*5D

2021-08-14T19:34:18.661Z,1628969658.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.900002 m, bearing: 30.085921 deg, deltaT: 4.438597 s, approachRate: -0.378498 m/s, LOS rate: 1.542315 deg/s, posRepo size: 4
2021-08-14T19:34:18.663Z,1628969658.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 30.085921 deg,
      approachRate: -0.378498 m/s,
      LOS rate: 1.542315 deg/s,
      cmd update: 6.169261 deg/s,
      cmd heading: 11.880455 deg,
      new cmd heading: 10.447400 deg.

2021-08-14T19:34:21.070Z,1628969661.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:21.441Z,1628969661.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:21.441Z,1628969661.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:21.441Z,1628969661.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:21.442Z,1628969661.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:21.838Z,1628969661.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,0088E,186,80,80,95,FF
2021-08-14T19:34:21.838Z,1628969661.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:21.838Z,1628969661.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:21.840Z,1628969661.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:22.241Z,1628969662.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:22.645Z,1628969662.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F59,000,0086E,187,80,80,B2,FF
2021-08-14T19:34:22.646Z,1628969662.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:23.081Z,1628969663.081 [Micromodem](INFO): Nmea in: $SNTTA,0.061033,,,,193423.81*40

2021-08-14T19:34:23.119Z,1628969663.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.979996 m, bearing: 30.712448 deg, deltaT: 4.403461 s, approachRate: -0.436022 m/s, LOS rate: 0.142280 deg/s, posRepo size: 4
2021-08-14T19:34:23.121Z,1628969663.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.979996 m,
      bearing: 30.712448 deg,
      approachRate: -0.436022 m/s,
      LOS rate: 0.142280 deg/s,
      cmd update: 0.569122 deg/s,
      cmd heading: 39.048518 deg,
      new cmd heading: 41.867272 deg.

2021-08-14T19:34:25.540Z,1628969665.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:25.873Z,1628969665.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:25.873Z,1628969665.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:25.873Z,1628969665.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:25.874Z,1628969665.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:26.285Z,1628969666.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F59,000,0086E,187,80,80,B2,FF
2021-08-14T19:34:26.285Z,1628969666.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:26.285Z,1628969666.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:26.287Z,1628969666.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:26.788Z,1628969666.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:27.189Z,1628969667.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00848,184,80,80,A4,FF
2021-08-14T19:34:27.190Z,1628969667.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:27.603Z,1628969667.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193428.26*5F

2021-08-14T19:34:27.629Z,1628969667.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.699997 m, bearing: 31.080018 deg, deltaT: 4.624747 s, approachRate: -0.493000 m/s, LOS rate: 0.079479 deg/s, posRepo size: 4
2021-08-14T19:34:27.631Z,1628969667.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.699997 m,
      bearing: 31.080018 deg,
      approachRate: -0.493000 m/s,
      LOS rate: 0.079479 deg/s,
      cmd update: 0.317916 deg/s,
      cmd heading: 41.680380 deg,
      new cmd heading: 41.874998 deg.

2021-08-14T19:34:30.117Z,1628969670.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:30.427Z,1628969670.427 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:30.427Z,1628969670.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:30.428Z,1628969670.428 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:30.429Z,1628969670.429 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:30.833Z,1628969670.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00848,184,80,80,A4,FF
2021-08-14T19:34:30.834Z,1628969670.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:30.834Z,1628969670.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:30.836Z,1628969670.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:31.245Z,1628969671.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:31.637Z,1628969671.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00826,186,80,80,A7,FF
2021-08-14T19:34:31.638Z,1628969671.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:32.094Z,1628969672.094 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193432.80*58

2021-08-14T19:34:32.196Z,1628969672.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 26.879018 deg, deltaT: 4.367587 s, approachRate: -0.467077 m/s, LOS rate: -0.961858 deg/s, posRepo size: 4
2021-08-14T19:34:32.198Z,1628969672.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 26.879018 deg,
      approachRate: -0.467077 m/s,
      LOS rate: -0.961858 deg/s,
      cmd update: -3.847434 deg/s,
      cmd heading: 43.068976 deg,
      new cmd heading: 43.239969 deg.

2021-08-14T19:34:34.528Z,1628969674.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:34.869Z,1628969674.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:34.869Z,1628969674.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:34.869Z,1628969674.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:34.870Z,1628969674.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:35.269Z,1628969675.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00826,186,80,80,A7,FF
2021-08-14T19:34:35.269Z,1628969675.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:35.269Z,1628969675.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:35.271Z,1628969675.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:35.686Z,1628969675.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:36.522Z,1628969676.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193437.24*53

2021-08-14T19:34:37.325Z,1628969677.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:38.924Z,1628969678.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,A7,FF
2021-08-14T19:34:38.925Z,1628969678.925 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,A7,FF
2021-08-14T19:34:38.925Z,1628969678.925 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:34:40.163Z,1628969680.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:40.557Z,1628969680.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:40.557Z,1628969680.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:40.557Z,1628969680.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:40.563Z,1628969680.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:40.933Z,1628969680.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,A7,FF
2021-08-14T19:34:40.933Z,1628969680.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:40.933Z,1628969680.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:40.935Z,1628969680.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:41.336Z,1628969681.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:41.769Z,1628969681.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,007DB,184,80,80,C5,FF
2021-08-14T19:34:41.770Z,1628969681.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:42.190Z,1628969682.190 [Micromodem](INFO): Nmea in: $SNTTA,0.062496,,,,193442.90*4F

2021-08-14T19:34:42.227Z,1628969682.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.160004 m, bearing: 30.163591 deg, deltaT: 10.165239 s, approachRate: -0.442684 m/s, LOS rate: 0.323118 deg/s, posRepo size: 4
2021-08-14T19:34:42.229Z,1628969682.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.160004 m,
      bearing: 30.163591 deg,
      approachRate: -0.442684 m/s,
      LOS rate: 0.323118 deg/s,
      cmd update: 1.292473 deg/s,
      cmd heading: 3.965634 deg,
      new cmd heading: 2.399202 deg.

2021-08-14T19:34:44.594Z,1628969684.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:44.966Z,1628969684.966 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:44.966Z,1628969684.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:44.966Z,1628969684.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:44.967Z,1628969684.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:45.373Z,1628969685.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,007DB,184,80,80,C5,FF
2021-08-14T19:34:45.373Z,1628969685.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:45.374Z,1628969685.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:45.375Z,1628969685.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:45.797Z,1628969685.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:46.181Z,1628969686.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,007BB,186,80,80,BA,FF
2021-08-14T19:34:46.181Z,1628969686.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:46.221Z,1628969686.221 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T19:34:46.626Z,1628969686.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193447.35*54

2021-08-14T19:34:46.647Z,1628969686.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 33.762755 deg, deltaT: 4.414756 s, approachRate: -0.434906 m/s, LOS rate: 0.815258 deg/s, posRepo size: 4
2021-08-14T19:34:46.650Z,1628969686.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 33.762755 deg,
      approachRate: -0.434906 m/s,
      LOS rate: 0.815258 deg/s,
      cmd update: 3.261032 deg/s,
      cmd heading: 9.673974 deg,
      new cmd heading: 10.207744 deg.

2021-08-14T19:34:49.045Z,1628969689.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:49.413Z,1628969689.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:49.413Z,1628969689.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:49.413Z,1628969689.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:49.414Z,1628969689.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:49.813Z,1628969689.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,007BB,186,80,80,BA,FF
2021-08-14T19:34:49.813Z,1628969689.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:49.813Z,1628969689.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:49.815Z,1628969689.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:50.233Z,1628969690.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:51.055Z,1628969691.055 [Micromodem](INFO): Nmea in: $SNTTA,0.077601,,,,193451.79*42

2021-08-14T19:34:51.837Z,1628969691.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,03996,187,80,80,C1,FF
2021-08-14T19:34:51.837Z,1628969691.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:52.299Z,1628969692.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 847.020081 m, bearing: 35.159027 deg, deltaT: 5.675479 s, approachRate: 134.927841 m/s, LOS rate: 0.246018 deg/s, posRepo size: 4
2021-08-14T19:34:52.301Z,1628969692.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 847.020081 m,
      bearing: 35.159027 deg,
      approachRate: 134.927841 m/s,
      LOS rate: 0.246018 deg/s,
      cmd update: 0.984073 deg/s,
      cmd heading: 28.181590 deg,
      new cmd heading: 29.449743 deg.

2021-08-14T19:34:54.729Z,1628969694.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:55.073Z,1628969695.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:55.073Z,1628969695.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:55.073Z,1628969695.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:55.074Z,1628969695.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:55.474Z,1628969695.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,03996,187,80,80,C1,FF
2021-08-14T19:34:55.474Z,1628969695.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:55.475Z,1628969695.475 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:55.478Z,1628969695.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:34:55.880Z,1628969695.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:34:56.289Z,1628969696.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00772,182,80,80,A2,FF
2021-08-14T19:34:56.290Z,1628969696.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:34:56.745Z,1628969696.745 [Micromodem](INFO): Nmea in: $SNTTA,0.078735,,,,193457.45*42

2021-08-14T19:34:56.779Z,1628969696.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 30.702359 deg, deltaT: 4.494493 s, approachRate: -171.356384 m/s, LOS rate: -0.991584 deg/s, posRepo size: 4
2021-08-14T19:34:56.781Z,1628969696.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 30.702359 deg,
      approachRate: -171.356384 m/s,
      LOS rate: -0.991584 deg/s,
      cmd update: -3.966336 deg/s,
      cmd heading: 32.584924 deg,
      new cmd heading: 32.973396 deg.

2021-08-14T19:34:58.330Z,1628969698.330 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 94
2021-08-14T19:34:59.138Z,1628969699.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:34:59.525Z,1628969699.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:34:59.525Z,1628969699.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:34:59.525Z,1628969699.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:34:59.526Z,1628969699.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:34:59.917Z,1628969699.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00772,182,80,80,A2,FF
2021-08-14T19:34:59.917Z,1628969699.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:34:59.917Z,1628969699.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:34:59.919Z,1628969699.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:00.342Z,1628969700.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:00.746Z,1628969700.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,00E04,182,80,80,A2,FF
2021-08-14T19:35:00.746Z,1628969700.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:01.165Z,1628969701.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193501.89*50

2021-08-14T19:35:01.205Z,1628969701.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.779999 m, bearing: 29.507237 deg, deltaT: 4.399889 s, approachRate: 22.936939 m/s, LOS rate: -0.271626 deg/s, posRepo size: 4
2021-08-14T19:35:01.207Z,1628969701.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 29.507237 deg,
      approachRate: 22.936939 m/s,
      LOS rate: -0.271626 deg/s,
      cmd update: -1.086503 deg/s,
      cmd heading: 15.054282 deg,
      new cmd heading: 13.466339 deg.

2021-08-14T19:35:03.598Z,1628969703.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:03.960Z,1628969703.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:03.961Z,1628969703.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:03.961Z,1628969703.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:03.963Z,1628969703.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:04.369Z,1628969704.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,00E04,182,80,80,A2,FF
2021-08-14T19:35:04.369Z,1628969704.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:04.370Z,1628969704.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:04.371Z,1628969704.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:04.796Z,1628969704.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:05.169Z,1628969705.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,0072B,187,80,80,A6,FF
2021-08-14T19:35:05.169Z,1628969705.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:05.649Z,1628969705.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193506.34*51

2021-08-14T19:35:05.668Z,1628969705.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 34.105477 deg, deltaT: 4.386252 s, approachRate: -23.979471 m/s, LOS rate: 1.048330 deg/s, posRepo size: 4
2021-08-14T19:35:05.670Z,1628969705.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 34.105477 deg,
      approachRate: -23.979471 m/s,
      LOS rate: 1.048330 deg/s,
      cmd update: 4.193321 deg/s,
      cmd heading: 10.288599 deg,
      new cmd heading: 9.770251 deg.

2021-08-14T19:35:08.095Z,1628969708.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:08.412Z,1628969708.412 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:08.413Z,1628969708.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:08.413Z,1628969708.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:08.414Z,1628969708.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:08.813Z,1628969708.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,0072B,187,80,80,A6,FF
2021-08-14T19:35:08.813Z,1628969708.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:08.814Z,1628969708.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:08.815Z,1628969708.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:09.217Z,1628969709.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:09.629Z,1628969709.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00708,186,80,80,AD,FF
2021-08-14T19:35:09.630Z,1628969709.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:10.069Z,1628969710.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193510.78*5E

2021-08-14T19:35:10.116Z,1628969710.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 36.079067 deg, deltaT: 4.560847 s, approachRate: -0.460440 m/s, LOS rate: 0.432724 deg/s, posRepo size: 4
2021-08-14T19:35:10.118Z,1628969710.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.500000 m,
      bearing: 36.079067 deg,
      approachRate: -0.460440 m/s,
      LOS rate: 0.432724 deg/s,
      cmd update: 1.730898 deg/s,
      cmd heading: 29.396656 deg,
      new cmd heading: 30.942260 deg.

2021-08-14T19:35:12.475Z,1628969712.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:12.845Z,1628969712.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:12.845Z,1628969712.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:12.845Z,1628969712.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:12.846Z,1628969712.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:13.249Z,1628969713.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00708,186,80,80,AD,FF
2021-08-14T19:35:13.249Z,1628969713.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:13.249Z,1628969713.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:13.251Z,1628969713.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:13.668Z,1628969713.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:14.077Z,1628969714.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,006E8,186,80,80,A4,FF
2021-08-14T19:35:14.077Z,1628969714.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:14.501Z,1628969714.501 [Micromodem](INFO): Nmea in: $SNTTA,,0.306279,,,193515.22*43

2021-08-14T19:35:14.531Z,1628969714.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.580002 m, bearing: 33.397801 deg, deltaT: 4.417829 s, approachRate: -0.434602 m/s, LOS rate: -0.606919 deg/s, posRepo size: 4
2021-08-14T19:35:14.533Z,1628969714.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.580002 m,
      bearing: 33.397801 deg,
      approachRate: -0.434602 m/s,
      LOS rate: -0.606919 deg/s,
      cmd update: -2.427677 deg/s,
      cmd heading: 37.008549 deg,
      new cmd heading: 37.677195 deg.

2021-08-14T19:35:16.936Z,1628969716.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:17.289Z,1628969717.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:17.289Z,1628969717.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:17.289Z,1628969717.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:17.290Z,1628969717.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:17.709Z,1628969717.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,006E8,186,80,80,A4,FF
2021-08-14T19:35:17.709Z,1628969717.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:17.710Z,1628969717.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:17.725Z,1628969717.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:18.113Z,1628969718.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:18.517Z,1628969718.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,006C6,186,80,80,A4,FF
2021-08-14T19:35:18.517Z,1628969718.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:18.931Z,1628969718.931 [Micromodem](INFO): Nmea in: $SNTTA,0.099098,,,,193519.69*48

2021-08-14T19:35:18.957Z,1628969718.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 29.600442 deg, deltaT: 4.364914 s, approachRate: -0.467362 m/s, LOS rate: -0.869974 deg/s, posRepo size: 4
2021-08-14T19:35:18.959Z,1628969718.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.540009 m,
      bearing: 29.600442 deg,
      approachRate: -0.467362 m/s,
      LOS rate: -0.869974 deg/s,
      cmd update: -3.479894 deg/s,
      cmd heading: 26.353066 deg,
      new cmd heading: 25.326891 deg.

2021-08-14T19:35:21.364Z,1628969721.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:21.766Z,1628969721.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:21.766Z,1628969721.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:21.766Z,1628969721.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:21.767Z,1628969721.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:22.137Z,1628969722.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,006C6,186,80,80,A4,FF
2021-08-14T19:35:22.137Z,1628969722.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:22.137Z,1628969722.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:22.139Z,1628969722.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:22.567Z,1628969722.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:22.949Z,1628969722.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,006A5,183,80,80,91,FF
2021-08-14T19:35:22.949Z,1628969722.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:23.393Z,1628969723.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193524.11*56

2021-08-14T19:35:23.409Z,1628969723.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 33.932940 deg, deltaT: 4.481848 s, approachRate: -0.441785 m/s, LOS rate: 0.966677 deg/s, posRepo size: 4
2021-08-14T19:35:23.411Z,1628969723.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.559998 m,
      bearing: 33.932940 deg,
      approachRate: -0.441785 m/s,
      LOS rate: 0.966677 deg/s,
      cmd update: 3.866707 deg/s,
      cmd heading: 10.756760 deg,
      new cmd heading: 9.389152 deg.

2021-08-14T19:35:25.839Z,1628969725.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:26.177Z,1628969726.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:26.177Z,1628969726.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:26.177Z,1628969726.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:26.178Z,1628969726.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:26.586Z,1628969726.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,006A5,183,80,80,91,FF
2021-08-14T19:35:26.586Z,1628969726.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:26.587Z,1628969726.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:26.589Z,1628969726.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:26.989Z,1628969726.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:27.397Z,1628969727.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,00680,187,80,80,B5,FF
2021-08-14T19:35:27.398Z,1628969727.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:27.829Z,1628969727.829 [Micromodem](INFO): Nmea in: $SNTTA,0.053196,,,,193528.56*4F

2021-08-14T19:35:27.867Z,1628969727.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 37.425690 deg, deltaT: 4.431356 s, approachRate: -0.500974 m/s, LOS rate: 0.788190 deg/s, posRepo size: 4
2021-08-14T19:35:27.869Z,1628969727.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.340004 m,
      bearing: 37.425690 deg,
      approachRate: -0.500974 m/s,
      LOS rate: 0.788190 deg/s,
      cmd update: 3.152760 deg/s,
      cmd heading: 27.875972 deg,
      new cmd heading: 29.514942 deg.

2021-08-14T19:35:30.265Z,1628969730.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:30.633Z,1628969730.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:30.633Z,1628969730.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:30.634Z,1628969730.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:30.634Z,1628969730.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:31.061Z,1628969731.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,00680,187,80,80,B5,FF
2021-08-14T19:35:31.061Z,1628969731.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:31.061Z,1628969731.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:31.063Z,1628969731.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:31.439Z,1628969731.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:31.677Z,1628969731.677 [CTD_Seabird](ERROR): Failed to parse device response: 4.2513,4.79286,4850.21
2021-08-14T19:35:31.833Z,1628969731.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,0065F,186,80,80,8C,FF
2021-08-14T19:35:31.834Z,1628969731.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:32.267Z,1628969732.267 [Micromodem](INFO): Nmea in: $SNTTA,0.063235,,,,193533.03*4C

2021-08-14T19:35:32.327Z,1628969732.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 34.669258 deg, deltaT: 4.412829 s, approachRate: -0.448691 m/s, LOS rate: -0.624641 deg/s, posRepo size: 4
2021-08-14T19:35:32.330Z,1628969732.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.360008 m,
      bearing: 34.669258 deg,
      approachRate: -0.448691 m/s,
      LOS rate: -0.624641 deg/s,
      cmd update: -2.498562 deg/s,
      cmd heading: 41.801161 deg,
      new cmd heading: 43.274509 deg.

2021-08-14T19:35:34.751Z,1628969734.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:35.065Z,1628969735.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:35.065Z,1628969735.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:35.065Z,1628969735.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:35.066Z,1628969735.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:35.478Z,1628969735.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,0065F,186,80,80,8C,FF
2021-08-14T19:35:35.478Z,1628969735.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:35.478Z,1628969735.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:35.481Z,1628969735.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:35.885Z,1628969735.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:36.277Z,1628969736.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,00638,186,80,80,A6,FF
2021-08-14T19:35:36.278Z,1628969736.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:36.281Z,1628969736.281 [Micromodem](INFO): Nmea in: $SNTTA,0.190868,0.190718,,,193537.45*5D

2021-08-14T19:35:36.770Z,1628969736.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 31.992565 deg, deltaT: 4.516575 s, approachRate: -0.518093 m/s, LOS rate: -0.592638 deg/s, posRepo size: 4
2021-08-14T19:35:36.773Z,1628969736.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.020004 m,
      bearing: 31.992565 deg,
      approachRate: -0.518093 m/s,
      LOS rate: -0.592638 deg/s,
      cmd update: -2.370551 deg/s,
      cmd heading: 30.516924 deg,
      new cmd heading: 29.532713 deg.

2021-08-14T19:35:39.148Z,1628969739.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:39.517Z,1628969739.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:39.517Z,1628969739.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:39.517Z,1628969739.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:39.518Z,1628969739.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:39.913Z,1628969739.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,00638,186,80,80,A6,FF
2021-08-14T19:35:39.913Z,1628969739.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:39.913Z,1628969739.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:39.915Z,1628969739.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:40.406Z,1628969740.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:40.793Z,1628969740.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,0061B,186,80,80,B1,FF
2021-08-14T19:35:40.794Z,1628969740.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:41.198Z,1628969741.198 [Micromodem](INFO): Nmea in: $SNTTA,0.045943,,,,193541.89*45

2021-08-14T19:35:41.262Z,1628969741.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 32.915105 deg, deltaT: 4.497399 s, approachRate: -0.386892 m/s, LOS rate: 0.205127 deg/s, posRepo size: 4
2021-08-14T19:35:41.269Z,1628969741.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.279999 m,
      bearing: 32.915105 deg,
      approachRate: -0.386892 m/s,
      LOS rate: 0.205127 deg/s,
      cmd update: 0.820510 deg/s,
      cmd heading: 19.855145 deg,
      new cmd heading: 18.936229 deg.

2021-08-14T19:35:43.623Z,1628969743.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:44.053Z,1628969744.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:44.053Z,1628969744.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:44.053Z,1628969744.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:44.054Z,1628969744.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:44.413Z,1628969744.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,0061B,186,80,80,B1,FF
2021-08-14T19:35:44.413Z,1628969744.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:44.413Z,1628969744.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:44.415Z,1628969744.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:44.829Z,1628969744.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:45.221Z,1628969745.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,005F6,187,80,80,AB,FF
2021-08-14T19:35:45.222Z,1628969745.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:45.756Z,1628969745.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193546.39*58

2021-08-14T19:35:45.889Z,1628969745.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.060001 m, bearing: 36.846053 deg, deltaT: 4.364406 s, approachRate: -0.508660 m/s, LOS rate: 0.900683 deg/s, posRepo size: 4
2021-08-14T19:35:45.891Z,1628969745.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.060001 m,
      bearing: 36.846053 deg,
      approachRate: -0.508660 m/s,
      LOS rate: 0.900683 deg/s,
      cmd update: 3.602734 deg/s,
      cmd heading: 23.436131 deg,
      new cmd heading: 23.964065 deg.

2021-08-14T19:35:47.843Z,1628969747.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:48.222Z,1628969748.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:48.222Z,1628969748.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:48.222Z,1628969748.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:48.223Z,1628969748.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:48.629Z,1628969748.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,005F6,187,80,80,AB,FF
2021-08-14T19:35:48.629Z,1628969748.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:48.629Z,1628969748.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:48.631Z,1628969748.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:49.036Z,1628969749.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:49.437Z,1628969749.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,005D3,186,80,80,9E,FF
2021-08-14T19:35:49.437Z,1628969749.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:49.749Z,1628969749.749 [CTD_Seabird](ERROR): Failed to parse device response: .59
2021-08-14T19:35:49.877Z,1628969749.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193550.60*53

2021-08-14T19:35:49.911Z,1628969749.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 37.021224 deg, deltaT: 4.286381 s, approachRate: -0.489924 m/s, LOS rate: 0.040867 deg/s, posRepo size: 4
2021-08-14T19:35:49.913Z,1628969749.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.959999 m,
      bearing: 37.021224 deg,
      approachRate: -0.489924 m/s,
      LOS rate: 0.040867 deg/s,
      cmd update: 0.163467 deg/s,
      cmd heading: 38.861570 deg,
      new cmd heading: 40.270502 deg.

2021-08-14T19:35:52.318Z,1628969752.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:52.673Z,1628969752.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:52.673Z,1628969752.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:52.674Z,1628969752.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:52.675Z,1628969752.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:53.061Z,1628969753.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,005D3,186,80,80,9E,FF
2021-08-14T19:35:53.061Z,1628969753.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:53.062Z,1628969753.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:53.063Z,1628969753.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:53.487Z,1628969753.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:53.869Z,1628969753.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,005B2,186,80,80,B6,FF
2021-08-14T19:35:53.870Z,1628969753.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:54.321Z,1628969754.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193555.03*53

2021-08-14T19:35:54.377Z,1628969754.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 33.773670 deg, deltaT: 4.414420 s, approachRate: -0.448529 m/s, LOS rate: -0.735669 deg/s, posRepo size: 4
2021-08-14T19:35:54.379Z,1628969754.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 33.773670 deg,
      approachRate: -0.448529 m/s,
      LOS rate: -0.735669 deg/s,
      cmd update: -2.942677 deg/s,
      cmd heading: 39.582222 deg,
      new cmd heading: 39.655422 deg.

2021-08-14T19:35:56.769Z,1628969756.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:35:57.119Z,1628969757.119 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:35:57.119Z,1628969757.119 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:35:57.119Z,1628969757.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:35:57.121Z,1628969757.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:35:57.532Z,1628969757.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,005B2,186,80,80,B6,FF
2021-08-14T19:35:57.533Z,1628969757.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:35:57.533Z,1628969757.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:35:57.534Z,1628969757.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:35:57.923Z,1628969757.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:35:58.322Z,1628969758.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,118,000,0058D,186,80,80,B3,FF
2021-08-14T19:35:58.323Z,1628969758.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:35:58.765Z,1628969758.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193559.50*59

2021-08-14T19:35:58.795Z,1628969758.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 31.460070 deg, deltaT: 4.460973 s, approachRate: -0.497651 m/s, LOS rate: -0.518631 deg/s, posRepo size: 4
2021-08-14T19:35:58.821Z,1628969758.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.759995 m,
      bearing: 31.460070 deg,
      approachRate: -0.497651 m/s,
      LOS rate: -0.518631 deg/s,
      cmd update: -2.074525 deg/s,
      cmd heading: 26.423152 deg,
      new cmd heading: 25.261830 deg.

2021-08-14T19:36:01.178Z,1628969761.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:01.562Z,1628969761.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:01.562Z,1628969761.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:01.562Z,1628969761.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:01.563Z,1628969761.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:01.973Z,1628969761.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
118,000,0058D,186,80,80,B3,FF
2021-08-14T19:36:01.973Z,1628969761.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:01.974Z,1628969761.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:01.985Z,1628969761.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:02.371Z,1628969762.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:02.785Z,1628969762.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,0056F,183,80,80,AA,FF
2021-08-14T19:36:02.786Z,1628969762.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:03.198Z,1628969763.198 [Micromodem](INFO): Nmea in: $SNTTA,0.046127,,,,193603.96*47

2021-08-14T19:36:03.215Z,1628969763.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 36.937643 deg, deltaT: 4.453133 s, approachRate: -0.404209 m/s, LOS rate: 1.230049 deg/s, posRepo size: 4
2021-08-14T19:36:03.229Z,1628969763.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.959999 m,
      bearing: 36.937643 deg,
      approachRate: -0.404209 m/s,
      LOS rate: 1.230049 deg/s,
      cmd update: 4.920197 deg/s,
      cmd heading: 17.193419 deg,
      new cmd heading: 16.434840 deg.

2021-08-14T19:36:05.663Z,1628969765.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:06.037Z,1628969766.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:06.037Z,1628969766.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:06.037Z,1628969766.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:06.038Z,1628969766.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:06.397Z,1628969766.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,0056F,183,80,80,AA,FF
2021-08-14T19:36:06.398Z,1628969766.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:06.398Z,1628969766.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:06.401Z,1628969766.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:06.813Z,1628969766.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:07.217Z,1628969767.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0054C,186,80,80,5D,FF
2021-08-14T19:36:07.217Z,1628969767.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:07.657Z,1628969767.657 [Micromodem](INFO): Nmea in: $SNTTA,0.040309,,,,193608.37*4F

2021-08-14T19:36:07.721Z,1628969767.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 38.658348 deg, deltaT: 4.418297 s, approachRate: -0.475297 m/s, LOS rate: 0.389450 deg/s, posRepo size: 4
2021-08-14T19:36:07.741Z,1628969767.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.859997 m,
      bearing: 38.658348 deg,
      approachRate: -0.475297 m/s,
      LOS rate: 0.389450 deg/s,
      cmd update: 1.557800 deg/s,
      cmd heading: 38.848445 deg,
      new cmd heading: 41.141808 deg.

2021-08-14T19:36:10.133Z,1628969770.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:10.441Z,1628969770.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:10.441Z,1628969770.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:10.442Z,1628969770.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:10.443Z,1628969770.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:10.853Z,1628969770.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0054C,186,80,80,5D,FF
2021-08-14T19:36:10.853Z,1628969770.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:10.853Z,1628969770.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:10.855Z,1628969770.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:11.311Z,1628969771.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:11.689Z,1628969771.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0052C,183,80,80,B9,FF
2021-08-14T19:36:11.690Z,1628969771.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:12.118Z,1628969772.118 [Micromodem](INFO): Nmea in: $SNTTA,,0.464367,,,193612.82*40

2021-08-14T19:36:12.187Z,1628969772.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 37.281426 deg, deltaT: 4.490048 s, approachRate: -0.427611 m/s, LOS rate: -0.306661 deg/s, posRepo size: 4
2021-08-14T19:36:12.190Z,1628969772.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.940002 m,
      bearing: 37.281426 deg,
      approachRate: -0.427611 m/s,
      LOS rate: -0.306661 deg/s,
      cmd update: -1.226643 deg/s,
      cmd heading: 45.869558 deg,
      new cmd heading: 46.539078 deg.

2021-08-14T19:36:14.575Z,1628969774.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:14.924Z,1628969774.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:14.924Z,1628969774.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:14.925Z,1628969774.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:14.925Z,1628969774.925 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:15.326Z,1628969775.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0052C,183,80,80,B9,FF
2021-08-14T19:36:15.326Z,1628969775.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:15.327Z,1628969775.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:15.330Z,1628969775.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:15.741Z,1628969775.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:16.135Z,1628969776.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,00506,186,80,80,63,FF
2021-08-14T19:36:16.136Z,1628969776.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:16.141Z,1628969776.141 [Micromodem](INFO): Nmea in: $SNTTA,0.063892,0.265014,,,193617.30*54

2021-08-14T19:36:16.576Z,1628969776.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 30.514498 deg, deltaT: 4.469408 s, approachRate: -0.510135 m/s, LOS rate: -1.514055 deg/s, posRepo size: 4
2021-08-14T19:36:16.576Z,1628969776.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.66 m.
2021-08-14T19:36:16.578Z,1628969776.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.660000 m,
      bearing: 30.514498 deg,
      approachRate: -0.510135 m/s,
      LOS rate: -1.514055 deg/s,
      cmd update: -6.056219 deg/s,
      cmd heading: 40.387157 deg,
      new cmd heading: 39.959647 deg.

2021-08-14T19:36:16.991Z,1628969776.991 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:36:17.043Z,1628969777.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T19:36:17.043Z,1628969777.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:36:17.044Z,1628969777.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T19:36:17.044Z,1628969777.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T19:36:17.044Z,1628969777.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T19:36:17.045Z,1628969777.045 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T19:36:17.405Z,1628969777.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T19:36:17.405Z,1628969777.405 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:36:17.406Z,1628969777.406 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T19:36:17.406Z,1628969777.406 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T19:36:18.990Z,1628969778.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:19.369Z,1628969779.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:19.370Z,1628969779.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:19.370Z,1628969779.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:19.371Z,1628969779.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:19.777Z,1628969779.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,00506,186,80,80,63,FF
2021-08-14T19:36:19.777Z,1628969779.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:19.777Z,1628969779.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:19.779Z,1628969779.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:20.184Z,1628969780.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:20.577Z,1628969780.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F2,000,004EB,186,80,80,81,FF
2021-08-14T19:36:20.578Z,1628969780.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:20.664Z,1628969780.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:21.030Z,1628969781.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193621.75*52

2021-08-14T19:36:21.093Z,1628969781.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 34.638041 deg, deltaT: 4.430225 s, approachRate: -0.365670 m/s, LOS rate: 0.930775 deg/s, posRepo size: 4
2021-08-14T19:36:21.094Z,1628969781.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m.
2021-08-14T19:36:21.096Z,1628969781.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.040001 m,
      bearing: 34.638041 deg,
      approachRate: -0.365670 m/s,
      LOS rate: 0.930775 deg/s,
      cmd update: 3.723100 deg/s,
      cmd heading: 13.631479 deg,
      new cmd heading: 10.920171 deg.

2021-08-14T19:36:23.430Z,1628969783.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:23.809Z,1628969783.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:23.809Z,1628969783.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:23.809Z,1628969783.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:23.810Z,1628969783.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:24.217Z,1628969784.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F2,000,004EB,186,80,80,81,FF
2021-08-14T19:36:24.217Z,1628969784.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:24.218Z,1628969784.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:24.219Z,1628969784.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:24.625Z,1628969784.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:25.021Z,1628969785.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,004CA,186,80,80,97,FF
2021-08-14T19:36:25.022Z,1628969785.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:25.114Z,1628969785.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:25.467Z,1628969785.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193626.19*5F

2021-08-14T19:36:25.498Z,1628969785.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 36.113225 deg, deltaT: 4.449817 s, approachRate: -0.444962 m/s, LOS rate: 0.331516 deg/s, posRepo size: 4
2021-08-14T19:36:25.498Z,1628969785.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.06 m.
2021-08-14T19:36:25.500Z,1628969785.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.060001 m,
      bearing: 36.113225 deg,
      approachRate: -0.444962 m/s,
      LOS rate: 0.331516 deg/s,
      cmd update: 1.326063 deg/s,
      cmd heading: 30.217346 deg,
      new cmd heading: 31.698670 deg.

2021-08-14T19:36:27.903Z,1628969787.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:28.253Z,1628969788.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:28.253Z,1628969788.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:28.253Z,1628969788.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:28.254Z,1628969788.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:28.657Z,1628969788.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,004CA,186,80,80,97,FF
2021-08-14T19:36:28.657Z,1628969788.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:28.657Z,1628969788.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:28.659Z,1628969788.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:29.186Z,1628969789.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:29.466Z,1628969789.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,004AE,187,80,80,5A,FF
2021-08-14T19:36:29.467Z,1628969789.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:29.521Z,1628969789.521 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:29.939Z,1628969789.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193630.63*55

2021-08-14T19:36:30.045Z,1628969790.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 36.385702 deg, deltaT: 4.406879 s, approachRate: -0.381223 m/s, LOS rate: 0.061830 deg/s, posRepo size: 4
2021-08-14T19:36:30.045Z,1628969790.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m.
2021-08-14T19:36:30.046Z,1628969790.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.38 m.
2021-08-14T19:36:30.046Z,1628969790.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T19:36:30.052Z,1628969790.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 36.385702 deg,
      approachRate: -0.381223 m/s,
      LOS rate: 0.061830 deg/s,
      cmd update: 0.247319 deg/s,
      cmd heading: 36.070291 deg,
      new cmd heading: 36.769108 deg.

2021-08-14T19:36:32.356Z,1628969792.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:32.715Z,1628969792.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:32.716Z,1628969792.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:32.717Z,1628969792.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:32.718Z,1628969792.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:33.101Z,1628969793.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,004AE,187,80,80,5A,FF
2021-08-14T19:36:33.101Z,1628969793.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:33.101Z,1628969793.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:33.103Z,1628969793.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:33.525Z,1628969793.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:33.913Z,1628969793.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0048D,186,80,80,71,FF
2021-08-14T19:36:33.914Z,1628969793.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:34.021Z,1628969794.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:34.357Z,1628969794.357 [Micromodem](INFO): Nmea in: $SNTTA,0.039894,,,,193635.07*43

2021-08-14T19:36:34.417Z,1628969794.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 36.160244 deg, deltaT: 4.500328 s, approachRate: -0.439968 m/s, LOS rate: -0.050098 deg/s, posRepo size: 4
2021-08-14T19:36:34.419Z,1628969794.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.399998 m,
      bearing: 36.160244 deg,
      approachRate: -0.439968 m/s,
      LOS rate: -0.050098 deg/s,
      cmd update: -0.200392 deg/s,
      cmd heading: 37.167180 deg,
      new cmd heading: 37.282956 deg.

2021-08-14T19:36:36.797Z,1628969796.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:37.134Z,1628969797.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:37.135Z,1628969797.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:37.135Z,1628969797.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:37.136Z,1628969797.136 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:37.553Z,1628969797.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0048D,186,80,80,71,FF
2021-08-14T19:36:37.553Z,1628969797.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:37.553Z,1628969797.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:37.555Z,1628969797.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:37.968Z,1628969797.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:38.363Z,1628969798.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,0046E,186,80,80,BA,FF
2021-08-14T19:36:38.363Z,1628969798.363 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:38.403Z,1628969798.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:38.809Z,1628969798.809 [Micromodem](INFO): Nmea in: $SNTTA,0.053486,,,,193639.53*4D

2021-08-14T19:36:38.861Z,1628969798.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 34.768842 deg, deltaT: 4.381806 s, approachRate: -0.424483 m/s, LOS rate: -0.317541 deg/s, posRepo size: 4
2021-08-14T19:36:38.865Z,1628969798.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.539997 m,
      bearing: 34.768842 deg,
      approachRate: -0.424483 m/s,
      LOS rate: -0.317541 deg/s,
      cmd update: -1.270163 deg/s,
      cmd heading: 36.275199 deg,
      new cmd heading: 36.182803 deg.

2021-08-14T19:36:41.219Z,1628969801.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:41.585Z,1628969801.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:41.585Z,1628969801.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:41.585Z,1628969801.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:41.586Z,1628969801.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:42.036Z,1628969802.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,0046E,186,80,80,BA,FF
2021-08-14T19:36:42.037Z,1628969802.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:42.037Z,1628969802.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:42.038Z,1628969802.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:42.401Z,1628969802.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:42.797Z,1628969802.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00459,184,80,80,50,FF
2021-08-14T19:36:42.797Z,1628969802.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:42.868Z,1628969802.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:43.219Z,1628969803.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193644.01*52

2021-08-14T19:36:43.265Z,1628969803.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 33.559998 deg, deltaT: 4.464975 s, approachRate: -0.282195 m/s, LOS rate: -0.270739 deg/s, posRepo size: 4
2021-08-14T19:36:43.267Z,1628969803.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 33.559998 deg,
      approachRate: -0.282195 m/s,
      LOS rate: -0.270739 deg/s,
      cmd update: -1.082957 deg/s,
      cmd heading: 30.604296 deg,
      new cmd heading: 30.096511 deg.

2021-08-14T19:36:45.682Z,1628969805.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:46.072Z,1628969806.072 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:46.073Z,1628969806.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:46.073Z,1628969806.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:46.074Z,1628969806.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:46.438Z,1628969806.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00459,184,80,80,50,FF
2021-08-14T19:36:46.438Z,1628969806.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:46.438Z,1628969806.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:46.440Z,1628969806.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:46.841Z,1628969806.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:47.241Z,1628969807.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0042E,184,80,80,8C,FF
2021-08-14T19:36:47.242Z,1628969807.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:47.262Z,1628969807.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:47.673Z,1628969807.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193648.41*5A

2021-08-14T19:36:47.742Z,1628969807.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 35.286082 deg, deltaT: 4.393765 s, approachRate: -0.587196 m/s, LOS rate: 0.392849 deg/s, posRepo size: 4
2021-08-14T19:36:47.749Z,1628969807.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.700003 m,
      bearing: 35.286082 deg,
      approachRate: -0.587196 m/s,
      LOS rate: 0.392849 deg/s,
      cmd update: 1.571394 deg/s,
      cmd heading: 25.845748 deg,
      new cmd heading: 25.321878 deg.

2021-08-14T19:36:50.149Z,1628969810.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:50.471Z,1628969810.471 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:50.471Z,1628969810.471 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:50.471Z,1628969810.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:50.472Z,1628969810.472 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:50.889Z,1628969810.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0042E,184,80,80,8C,FF
2021-08-14T19:36:50.889Z,1628969810.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:50.889Z,1628969810.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:50.891Z,1628969810.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:51.284Z,1628969811.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:51.685Z,1628969811.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,0040D,187,80,80,AC,FF
2021-08-14T19:36:51.686Z,1628969811.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:51.757Z,1628969811.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:52.134Z,1628969812.134 [Micromodem](INFO): Nmea in: $SNTTA,0.030975,,,,193652.86*4C

2021-08-14T19:36:52.204Z,1628969812.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 38.474510 deg, deltaT: 4.495199 s, approachRate: -0.440470 m/s, LOS rate: 0.709296 deg/s, posRepo size: 4
2021-08-14T19:36:52.206Z,1628969812.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 38.474510 deg,
      approachRate: -0.440470 m/s,
      LOS rate: 0.709296 deg/s,
      cmd update: 2.837185 deg/s,
      cmd heading: 32.903141 deg,
      new cmd heading: 33.610297 deg.

2021-08-14T19:36:54.551Z,1628969814.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:54.917Z,1628969814.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:54.917Z,1628969814.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:54.917Z,1628969814.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:54.918Z,1628969814.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:55.321Z,1628969815.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,0040D,187,80,80,AC,FF
2021-08-14T19:36:55.321Z,1628969815.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:55.321Z,1628969815.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:55.323Z,1628969815.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:36:55.784Z,1628969815.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:36:56.133Z,1628969816.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,003EF,182,80,80,74,FF
2021-08-14T19:36:56.134Z,1628969816.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:36:56.195Z,1628969816.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:36:56.561Z,1628969816.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193657.29*5A

2021-08-14T19:36:56.608Z,1628969816.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 38.184722 deg, deltaT: 4.438058 s, approachRate: -0.405584 m/s, LOS rate: -0.065296 deg/s, posRepo size: 4
2021-08-14T19:36:56.610Z,1628969816.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.919998 m,
      bearing: 38.184722 deg,
      approachRate: -0.405584 m/s,
      LOS rate: -0.065296 deg/s,
      cmd update: -0.261184 deg/s,
      cmd heading: 45.505912 deg,
      new cmd heading: 46.674633 deg.

2021-08-14T19:36:59.014Z,1628969819.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:36:59.361Z,1628969819.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:36:59.362Z,1628969819.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:36:59.362Z,1628969819.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:36:59.363Z,1628969819.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:36:59.781Z,1628969819.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,003EF,182,80,80,74,FF
2021-08-14T19:36:59.781Z,1628969819.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:36:59.781Z,1628969819.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:36:59.783Z,1628969819.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:00.173Z,1628969820.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:00.573Z,1628969820.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,003D1,186,80,80,AB,FF
2021-08-14T19:37:00.573Z,1628969820.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:00.594Z,1628969820.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:01.009Z,1628969821.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193701.75*51

2021-08-14T19:37:01.083Z,1628969821.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 37.327790 deg, deltaT: 4.398764 s, approachRate: -0.409205 m/s, LOS rate: -0.194812 deg/s, posRepo size: 4
2021-08-14T19:37:01.090Z,1628969821.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.120001 m,
      bearing: 37.327790 deg,
      approachRate: -0.409205 m/s,
      LOS rate: -0.194812 deg/s,
      cmd update: -0.779249 deg/s,
      cmd heading: 44.357003 deg,
      new cmd heading: 44.228281 deg.

2021-08-14T19:37:03.423Z,1628969823.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:03.809Z,1628969823.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:03.809Z,1628969823.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:03.810Z,1628969823.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:03.811Z,1628969823.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:04.209Z,1628969824.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,003D1,186,80,80,AB,FF
2021-08-14T19:37:04.209Z,1628969824.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:04.209Z,1628969824.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:04.211Z,1628969824.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:04.616Z,1628969824.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:05.022Z,1628969825.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,003B2,186,80,80,7D,FF
2021-08-14T19:37:05.022Z,1628969825.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:05.062Z,1628969825.062 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:05.462Z,1628969825.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193706.18*5D

2021-08-14T19:37:05.512Z,1628969825.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 37.632215 deg, deltaT: 4.467916 s, approachRate: -0.416301 m/s, LOS rate: 0.068136 deg/s, posRepo size: 4
2021-08-14T19:37:05.514Z,1628969825.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.260002 m,
      bearing: 37.632215 deg,
      approachRate: -0.416301 m/s,
      LOS rate: 0.068136 deg/s,
      cmd update: 0.272543 deg/s,
      cmd heading: 40.878401 deg,
      new cmd heading: 40.525274 deg.

2021-08-14T19:37:07.880Z,1628969827.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:08.277Z,1628969828.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:08.277Z,1628969828.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:08.277Z,1628969828.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:08.278Z,1628969828.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:08.661Z,1628969828.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,003B2,186,80,80,7D,FF
2021-08-14T19:37:08.662Z,1628969828.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:08.662Z,1628969828.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:08.663Z,1628969828.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:09.054Z,1628969829.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:09.466Z,1628969829.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,0039F,184,80,80,7E,FF
2021-08-14T19:37:09.466Z,1628969829.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:09.495Z,1628969829.495 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:09.901Z,1628969829.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193710.63*56

2021-08-14T19:37:09.947Z,1628969829.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 38.854624 deg, deltaT: 4.433405 s, approachRate: -0.257139 m/s, LOS rate: 0.275727 deg/s, posRepo size: 4
2021-08-14T19:37:09.952Z,1628969829.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.120001 m,
      bearing: 38.854624 deg,
      approachRate: -0.257139 m/s,
      LOS rate: 0.275727 deg/s,
      cmd update: 1.102908 deg/s,
      cmd heading: 42.087738 deg,
      new cmd heading: 42.211843 deg.

2021-08-14T19:37:12.347Z,1628969832.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:12.700Z,1628969832.700 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:12.700Z,1628969832.700 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:12.701Z,1628969832.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:12.702Z,1628969832.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:13.109Z,1628969833.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,0039F,184,80,80,7E,FF
2021-08-14T19:37:13.109Z,1628969833.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:13.109Z,1628969833.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:13.111Z,1628969833.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:13.517Z,1628969833.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:13.909Z,1628969833.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EB,000,0037F,186,80,80,8E,FF
2021-08-14T19:37:13.910Z,1628969833.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:13.920Z,1628969833.920 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:37:13.940Z,1628969833.940 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:14.349Z,1628969834.349 [Micromodem](INFO): Nmea in: $SNTTA,0.044363,,,,193715.08*46

2021-08-14T19:37:14.410Z,1628969834.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 35.102470 deg, deltaT: 4.445183 s, approachRate: -0.431929 m/s, LOS rate: -0.844094 deg/s, posRepo size: 4
2021-08-14T19:37:14.411Z,1628969834.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 35.102470 deg,
      approachRate: -0.431929 m/s,
      LOS rate: -0.844094 deg/s,
      cmd update: -3.376378 deg/s,
      cmd heading: 46.987913 deg,
      new cmd heading: 47.511438 deg.

2021-08-14T19:37:16.814Z,1628969836.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:17.153Z,1628969837.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:17.154Z,1628969837.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:17.154Z,1628969837.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:17.155Z,1628969837.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:17.557Z,1628969837.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EB,000,0037F,186,80,80,8E,FF
2021-08-14T19:37:17.557Z,1628969837.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:17.558Z,1628969837.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:17.559Z,1628969837.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:17.983Z,1628969837.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:18.361Z,1628969838.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,00354,185,80,80,61,FF
2021-08-14T19:37:18.362Z,1628969838.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:18.395Z,1628969838.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:18.797Z,1628969838.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193719.53*5C

2021-08-14T19:37:18.844Z,1628969838.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 30.339639 deg, deltaT: 4.454407 s, approachRate: -0.579201 m/s, LOS rate: -1.069240 deg/s, posRepo size: 4
2021-08-14T19:37:18.846Z,1628969838.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.619998 m,
      bearing: 30.339639 deg,
      approachRate: -0.579201 m/s,
      LOS rate: -1.069240 deg/s,
      cmd update: -4.276961 deg/s,
      cmd heading: 31.954726 deg,
      new cmd heading: 30.414659 deg.

2021-08-14T19:37:21.211Z,1628969841.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:21.594Z,1628969841.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:21.594Z,1628969841.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:21.594Z,1628969841.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:21.595Z,1628969841.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:22.041Z,1628969842.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,00354,185,80,80,61,FF
2021-08-14T19:37:22.041Z,1628969842.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:22.041Z,1628969842.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:22.043Z,1628969842.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:22.418Z,1628969842.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:22.817Z,1628969842.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00334,184,80,80,58,FF
2021-08-14T19:37:22.817Z,1628969842.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:22.868Z,1628969842.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:23.235Z,1628969843.235 [Micromodem](INFO): Nmea in: $SNTTA,0.023934,,,,193724.01*44

2021-08-14T19:37:23.276Z,1628969843.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 35.986122 deg, deltaT: 4.473780 s, approachRate: -0.429167 m/s, LOS rate: 1.262128 deg/s, posRepo size: 4
2021-08-14T19:37:23.278Z,1628969843.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 35.986122 deg,
      approachRate: -0.429167 m/s,
      LOS rate: 1.262128 deg/s,
      cmd update: 5.048512 deg/s,
      cmd heading: 12.803399 deg,
      new cmd heading: 11.047330 deg.

2021-08-14T19:37:25.752Z,1628969845.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:26.061Z,1628969846.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:26.061Z,1628969846.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:26.061Z,1628969846.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:26.062Z,1628969846.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:26.449Z,1628969846.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00334,184,80,80,58,FF
2021-08-14T19:37:26.449Z,1628969846.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:26.449Z,1628969846.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:26.451Z,1628969846.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:26.875Z,1628969846.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:27.265Z,1628969847.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,0031A,186,80,80,B8,FF
2021-08-14T19:37:27.265Z,1628969847.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:27.314Z,1628969847.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:27.712Z,1628969847.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193728.42*5E

2021-08-14T19:37:27.780Z,1628969847.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 35.045178 deg, deltaT: 4.445854 s, approachRate: -0.350889 m/s, LOS rate: -0.211645 deg/s, posRepo size: 4
2021-08-14T19:37:27.782Z,1628969847.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 35.045178 deg,
      approachRate: -0.350889 m/s,
      LOS rate: -0.211645 deg/s,
      cmd update: -0.846581 deg/s,
      cmd heading: 35.229117 deg,
      new cmd heading: 37.595183 deg.

2021-08-14T19:37:30.165Z,1628969850.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:30.486Z,1628969850.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:30.486Z,1628969850.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:30.486Z,1628969850.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:30.487Z,1628969850.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:30.901Z,1628969850.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,0031A,186,80,80,B8,FF
2021-08-14T19:37:30.901Z,1628969850.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:30.901Z,1628969850.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:30.903Z,1628969850.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:31.301Z,1628969851.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:31.721Z,1628969851.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,00301,186,80,80,BA,FF
2021-08-14T19:37:31.722Z,1628969851.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:31.793Z,1628969851.793 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:32.146Z,1628969852.146 [Micromodem](INFO): Nmea in: $SNTTA,0.048209,,,,193732.87*45

2021-08-14T19:37:32.185Z,1628969852.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 30.044940 deg, deltaT: 4.478306 s, approachRate: -0.334948 m/s, LOS rate: -1.116547 deg/s, posRepo size: 4
2021-08-14T19:37:32.187Z,1628969852.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 30.044940 deg,
      approachRate: -0.334948 m/s,
      LOS rate: -1.116547 deg/s,
      cmd update: -4.466187 deg/s,
      cmd heading: 31.434920 deg,
      new cmd heading: 31.103066 deg.

2021-08-14T19:37:34.571Z,1628969854.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:34.941Z,1628969854.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:34.941Z,1628969854.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:34.942Z,1628969854.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:34.943Z,1628969854.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:35.338Z,1628969855.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,00301,186,80,80,BA,FF
2021-08-14T19:37:35.338Z,1628969855.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:35.338Z,1628969855.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:35.340Z,1628969855.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:35.802Z,1628969855.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:36.146Z,1628969856.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,002EC,186,80,80,A9,FF
2021-08-14T19:37:36.146Z,1628969856.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:36.230Z,1628969856.230 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:36.585Z,1628969856.585 [Micromodem](INFO): Nmea in: $SNTTA,,0.007537,,,193737.31*4C

2021-08-14T19:37:36.622Z,1628969856.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 40.939505 deg, deltaT: 4.437775 s, approachRate: -0.283926 m/s, LOS rate: 2.454961 deg/s, posRepo size: 4
2021-08-14T19:37:36.624Z,1628969856.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 40.939505 deg,
      approachRate: -0.283926 m/s,
      LOS rate: 2.454961 deg/s,
      cmd update: 9.819844 deg/s,
      cmd heading: 11.630512 deg,
      new cmd heading: 9.848629 deg.

2021-08-14T19:37:39.045Z,1628969859.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:39.377Z,1628969859.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:39.377Z,1628969859.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:39.377Z,1628969859.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:39.378Z,1628969859.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:39.802Z,1628969859.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,002EC,186,80,80,A9,FF
2021-08-14T19:37:39.802Z,1628969859.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:39.802Z,1628969859.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:39.805Z,1628969859.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:40.190Z,1628969860.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:40.602Z,1628969860.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,002D7,186,80,80,69,FF
2021-08-14T19:37:40.602Z,1628969860.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:40.657Z,1628969860.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:41.018Z,1628969861.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193741.78*58

2021-08-14T19:37:41.045Z,1628969861.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 11.285165 deg, deltaT: 4.426635 s, approachRate: -0.284641 m/s, LOS rate: -6.699070 deg/s, posRepo size: 4
2021-08-14T19:37:41.047Z,1628969861.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 11.285165 deg,
      approachRate: -0.284641 m/s,
      LOS rate: -6.699070 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 55.097562 deg,
      new cmd heading: 58.973199 deg.

2021-08-14T19:37:43.458Z,1628969863.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:43.827Z,1628969863.827 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:43.827Z,1628969863.827 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:43.827Z,1628969863.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:43.828Z,1628969863.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:44.225Z,1628969864.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,002D7,186,80,80,69,FF
2021-08-14T19:37:44.225Z,1628969864.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:44.226Z,1628969864.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:44.227Z,1628969864.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:44.655Z,1628969864.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:45.037Z,1628969865.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,002D0,186,80,80,77,FF
2021-08-14T19:37:45.037Z,1628969865.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:45.092Z,1628969865.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:45.486Z,1628969865.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193746.20*52

2021-08-14T19:37:45.512Z,1628969865.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 18.029939 deg, deltaT: 4.435401 s, approachRate: -0.094693 m/s, LOS rate: 1.520668 deg/s, posRepo size: 4
2021-08-14T19:37:45.514Z,1628969865.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 18.029939 deg,
      approachRate: -0.094693 m/s,
      LOS rate: 1.520668 deg/s,
      cmd update: 6.082674 deg/s,
      cmd heading: 1.872976 deg,
      new cmd heading: 356.753632 deg.

2021-08-14T19:37:47.934Z,1628969867.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:48.273Z,1628969868.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:48.273Z,1628969868.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:48.273Z,1628969868.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:48.274Z,1628969868.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:48.669Z,1628969868.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,002D0,186,80,80,77,FF
2021-08-14T19:37:48.669Z,1628969868.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:48.669Z,1628969868.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:48.671Z,1628969868.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:49.081Z,1628969869.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:49.486Z,1628969869.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,002D3,187,80,80,83,FF
2021-08-14T19:37:49.487Z,1628969869.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:49.558Z,1628969869.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:49.921Z,1628969869.921 [Micromodem](INFO): Nmea in: $SNTTA,0.006950,,,,193750.64*41

2021-08-14T19:37:50.003Z,1628969870.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 30.324039 deg, deltaT: 4.465497 s, approachRate: 0.040309 m/s, LOS rate: 2.753131 deg/s, posRepo size: 4
2021-08-14T19:37:50.017Z,1628969870.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 30.324039 deg,
      approachRate: 0.040309 m/s,
      LOS rate: 2.753131 deg/s,
      cmd update: 11.012526 deg/s,
      cmd heading: 28.995405 deg,
      new cmd heading: 31.739834 deg.

2021-08-14T19:37:50.750Z,1628969870.750 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:37:51.521Z,1628969871.521 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:37:52.365Z,1628969872.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:52.718Z,1628969872.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:52.719Z,1628969872.719 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:52.720Z,1628969872.720 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:52.721Z,1628969872.721 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:53.118Z,1628969873.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,002D3,187,80,80,83,FF
2021-08-14T19:37:53.118Z,1628969873.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:53.118Z,1628969873.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:53.120Z,1628969873.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:53.533Z,1628969873.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:53.918Z,1628969873.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,002E3,189,80,80,5C,FF
2021-08-14T19:37:53.918Z,1628969873.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:53.984Z,1628969873.984 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:54.337Z,1628969874.337 [Micromodem](INFO): Nmea in: $SNTTA,0.045545,0.370655,,,193755.09*5C

2021-08-14T19:37:54.385Z,1628969874.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 53.539490 deg, deltaT: 4.427281 s, approachRate: 0.216837 m/s, LOS rate: 5.243727 deg/s, posRepo size: 4
2021-08-14T19:37:54.387Z,1628969874.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 53.539490 deg,
      approachRate: 0.216837 m/s,
      LOS rate: 5.243727 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.500350 deg,
      new cmd heading: 82.301106 deg.

2021-08-14T19:37:56.815Z,1628969876.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:37:57.153Z,1628969877.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:37:57.153Z,1628969877.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:37:57.153Z,1628969877.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:37:57.154Z,1628969877.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:37:57.557Z,1628969877.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,002E3,189,80,80,5C,FF
2021-08-14T19:37:57.557Z,1628969877.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:37:57.557Z,1628969877.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:37:57.559Z,1628969877.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:37:57.996Z,1628969877.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:37:58.373Z,1628969878.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00307,186,80,80,47,FF
2021-08-14T19:37:58.374Z,1628969878.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:37:58.425Z,1628969878.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:37:58.813Z,1628969878.813 [Micromodem](INFO): Nmea in: $SNTTA,,0.150292,,,193759.53*4B

2021-08-14T19:37:58.839Z,1628969878.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 36.729455 deg, deltaT: 4.440144 s, approachRate: 0.486471 m/s, LOS rate: -3.785921 deg/s, posRepo size: 4
2021-08-14T19:37:58.841Z,1628969878.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 36.729455 deg,
      approachRate: 0.486471 m/s,
      LOS rate: -3.785921 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.134628 deg,
      new cmd heading: 136.188740 deg.

2021-08-14T19:38:01.230Z,1628969881.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:01.605Z,1628969881.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:01.605Z,1628969881.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:01.605Z,1628969881.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:01.606Z,1628969881.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:02.049Z,1628969882.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00307,186,80,80,47,FF
2021-08-14T19:38:02.049Z,1628969882.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:02.049Z,1628969882.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:02.051Z,1628969882.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:02.416Z,1628969882.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:02.809Z,1628969882.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,0031E,186,80,80,78,FF
2021-08-14T19:38:02.809Z,1628969882.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:02.863Z,1628969882.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:03.231Z,1628969883.231 [Micromodem](INFO): Nmea in: $SNTTA,0.032550,,,,193804.02*44

2021-08-14T19:38:03.274Z,1628969883.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 62.684047 deg, deltaT: 4.438335 s, approachRate: 0.310928 m/s, LOS rate: 5.847822 deg/s, posRepo size: 4
2021-08-14T19:38:03.276Z,1628969883.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.380001 m,
      bearing: 62.684047 deg,
      approachRate: 0.310928 m/s,
      LOS rate: 5.847822 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.827902 deg,
      new cmd heading: 72.867846 deg.

2021-08-14T19:38:05.670Z,1628969885.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:06.057Z,1628969886.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:06.057Z,1628969886.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:06.057Z,1628969886.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:06.058Z,1628969886.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:06.445Z,1628969886.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,0031E,186,80,80,78,FF
2021-08-14T19:38:06.445Z,1628969886.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:06.445Z,1628969886.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:06.447Z,1628969886.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:06.853Z,1628969886.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:07.261Z,1628969887.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0031F,187,80,80,60,FF
2021-08-14T19:38:07.261Z,1628969887.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:07.310Z,1628969887.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:07.714Z,1628969887.714 [Micromodem](INFO): Nmea in: $SNTTA,0.025318,,,,193808.42*40

2021-08-14T19:38:07.771Z,1628969887.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 80.767274 deg, deltaT: 4.445920 s, approachRate: 0.013495 m/s, LOS rate: 4.067376 deg/s, posRepo size: 4
2021-08-14T19:38:07.773Z,1628969887.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 80.767274 deg,
      approachRate: 0.013495 m/s,
      LOS rate: 4.067376 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 131.133836 deg,
      new cmd heading: 136.752284 deg.

2021-08-14T19:38:10.143Z,1628969890.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:10.490Z,1628969890.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:10.490Z,1628969890.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:10.490Z,1628969890.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:10.491Z,1628969890.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:10.893Z,1628969890.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,0031F,187,80,80,60,FF
2021-08-14T19:38:10.893Z,1628969890.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:10.893Z,1628969890.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:10.895Z,1628969890.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:10.924Z,1628969890.924 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:38:11.303Z,1628969891.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:11.716Z,1628969891.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0032C,187,80,80,88,FF
2021-08-14T19:38:11.717Z,1628969891.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:11.812Z,1628969891.812 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:12.141Z,1628969892.141 [Micromodem](INFO): Nmea in: $SNTTA,0.026273,,,,193812.87*4D

2021-08-14T19:38:12.203Z,1628969892.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 106.898075 deg, deltaT: 4.502776 s, approachRate: 0.173227 m/s, LOS rate: 5.803265 deg/s, posRepo size: 4
2021-08-14T19:38:12.205Z,1628969892.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 106.898075 deg,
      approachRate: 0.173227 m/s,
      LOS rate: 5.803265 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 185.107377 deg,
      new cmd heading: 189.940642 deg.

2021-08-14T19:38:14.576Z,1628969894.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:14.929Z,1628969894.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:14.929Z,1628969894.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:14.929Z,1628969894.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:14.930Z,1628969894.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:15.333Z,1628969895.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0032C,187,80,80,88,FF
2021-08-14T19:38:15.333Z,1628969895.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:15.333Z,1628969895.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:15.335Z,1628969895.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:15.793Z,1628969895.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:15.810Z,1628969895.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:38:16.153Z,1628969896.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00335,187,80,80,BC,FF
2021-08-14T19:38:16.153Z,1628969896.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:16.157Z,1628969896.157 [Micromodem](INFO): Nmea in: $SNTTA,0.057257,0.262288,,,193817.31*5F

2021-08-14T19:38:16.231Z,1628969896.231 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:16.587Z,1628969896.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 121.018589 deg, deltaT: 4.423526 s, approachRate: 0.122074 m/s, LOS rate: 3.192140 deg/s, posRepo size: 4
2021-08-14T19:38:16.590Z,1628969896.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 121.018589 deg,
      approachRate: 0.122074 m/s,
      LOS rate: 3.192140 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 238.196783 deg,
      new cmd heading: 242.553707 deg.

2021-08-14T19:38:19.013Z,1628969899.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:19.373Z,1628969899.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:19.373Z,1628969899.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:19.373Z,1628969899.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:19.374Z,1628969899.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:19.801Z,1628969899.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00335,187,80,80,BC,FF
2021-08-14T19:38:19.801Z,1628969899.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:19.801Z,1628969899.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:19.803Z,1628969899.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:20.189Z,1628969900.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:20.589Z,1628969900.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCD,000,00339,189,80,80,B8,FF
2021-08-14T19:38:20.590Z,1628969900.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:20.610Z,1628969900.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:21.025Z,1628969901.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193821.77*5E

2021-08-14T19:38:21.032Z,1628969901.032 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:38:21.076Z,1628969901.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 143.413181 deg, deltaT: 4.373696 s, approachRate: 0.054874 m/s, LOS rate: 5.120290 deg/s, posRepo size: 4
2021-08-14T19:38:21.077Z,1628969901.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.00 m.
2021-08-14T19:38:21.079Z,1628969901.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 143.413181 deg,
      approachRate: 0.054874 m/s,
      LOS rate: 5.120290 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.781912 deg,
      new cmd heading: 296.126761 deg.

2021-08-14T19:38:23.446Z,1628969903.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:23.832Z,1628969903.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:23.833Z,1628969903.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:23.833Z,1628969903.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:23.834Z,1628969903.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:24.221Z,1628969904.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCD,000,00339,189,80,80,B8,FF
2021-08-14T19:38:24.221Z,1628969904.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:24.221Z,1628969904.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:24.223Z,1628969904.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:24.636Z,1628969904.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:25.029Z,1628969905.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,0033C,188,80,80,A5,FF
2021-08-14T19:38:25.030Z,1628969905.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:25.103Z,1628969905.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:25.478Z,1628969905.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193826.20*5B

2021-08-14T19:38:25.514Z,1628969905.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 160.578717 deg, deltaT: 4.493110 s, approachRate: 0.040061 m/s, LOS rate: 3.820413 deg/s, posRepo size: 4
2021-08-14T19:38:25.520Z,1628969905.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 160.578717 deg,
      approachRate: 0.040061 m/s,
      LOS rate: 3.820413 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 344.650514 deg,
      new cmd heading: 349.671878 deg.

2021-08-14T19:38:27.898Z,1628969907.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:28.261Z,1628969908.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:28.261Z,1628969908.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:28.261Z,1628969908.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:28.262Z,1628969908.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:28.677Z,1628969908.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,0033C,188,80,80,A5,FF
2021-08-14T19:38:28.678Z,1628969908.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:28.678Z,1628969908.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:28.679Z,1628969908.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:29.072Z,1628969909.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:29.476Z,1628969909.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,0033F,188,80,80,77,FF
2021-08-14T19:38:29.477Z,1628969909.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:29.502Z,1628969909.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:29.901Z,1628969909.901 [Micromodem](INFO): Nmea in: $SNTTA,0.040604,,,,193830.65*45

2021-08-14T19:38:29.953Z,1628969909.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 162.195423 deg, deltaT: 4.398941 s, approachRate: 0.040920 m/s, LOS rate: 0.367522 deg/s, posRepo size: 4
2021-08-14T19:38:29.969Z,1628969909.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 162.195423 deg,
      approachRate: 0.040920 m/s,
      LOS rate: 0.367522 deg/s,
      cmd update: 1.470086 deg/s,
      cmd heading: 37.486347 deg,
      new cmd heading: 42.874659 deg.

2021-08-14T19:38:32.367Z,1628969912.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:32.720Z,1628969912.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:32.721Z,1628969912.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:32.721Z,1628969912.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:32.723Z,1628969912.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:33.109Z,1628969913.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,0033F,188,80,80,77,FF
2021-08-14T19:38:33.109Z,1628969913.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:33.109Z,1628969913.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:33.111Z,1628969913.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:33.544Z,1628969913.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:33.921Z,1628969913.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,0035F,186,80,80,55,FF
2021-08-14T19:38:33.921Z,1628969913.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:34.021Z,1628969914.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:34.349Z,1628969914.349 [Micromodem](INFO): Nmea in: $SNTTA,0.048309,,,,193835.08*4B

2021-08-14T19:38:34.402Z,1628969914.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 138.744010 deg, deltaT: 4.519375 s, approachRate: 0.424837 m/s, LOS rate: -5.189083 deg/s, posRepo size: 4
2021-08-14T19:38:34.402Z,1628969914.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 14.28 m.
2021-08-14T19:38:34.405Z,1628969914.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 138.744010 deg,
      approachRate: 0.424837 m/s,
      LOS rate: -5.189083 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 44.093052 deg,
      new cmd heading: 44.694521 deg.

2021-08-14T19:38:35.991Z,1628969915.991 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T19:38:36.809Z,1628969916.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:37.149Z,1628969917.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:37.149Z,1628969917.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:37.149Z,1628969917.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:37.150Z,1628969917.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:37.565Z,1628969917.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,0035F,186,80,80,55,FF
2021-08-14T19:38:37.565Z,1628969917.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:37.565Z,1628969917.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:37.567Z,1628969917.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:37.994Z,1628969917.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:38.049Z,1628969918.049 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T19:38:38.369Z,1628969918.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,0037E,189,80,80,36,FF
2021-08-14T19:38:38.370Z,1628969918.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:38.390Z,1628969918.390 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:38.814Z,1628969918.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193839.54*56

2021-08-14T19:38:38.840Z,1628969918.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 71.641349 deg, deltaT: 4.368615 s, approachRate: 0.425764 m/s, LOS rate: -15.360168 deg/s, posRepo size: 4
2021-08-14T19:38:38.841Z,1628969918.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.360168 deg/s. Setting heading cmd to target bearing of 71.641349deg and heading rate command to 0 deg/s.
2021-08-14T19:38:41.223Z,1628969921.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:41.601Z,1628969921.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:41.601Z,1628969921.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:41.601Z,1628969921.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:41.602Z,1628969921.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:42.044Z,1628969922.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,0037E,189,80,80,36,FF
2021-08-14T19:38:42.045Z,1628969922.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:42.045Z,1628969922.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:42.046Z,1628969922.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:42.417Z,1628969922.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:42.805Z,1628969922.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,0038F,186,80,80,5E,FF
2021-08-14T19:38:42.806Z,1628969922.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:42.895Z,1628969922.895 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:43.234Z,1628969923.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193844.02*5F

2021-08-14T19:38:43.275Z,1628969923.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 92.125728 deg, deltaT: 4.505370 s, approachRate: 0.226397 m/s, LOS rate: 4.546658 deg/s, posRepo size: 4
2021-08-14T19:38:43.278Z,1628969923.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 92.125728 deg,
      approachRate: 0.226397 m/s,
      LOS rate: 4.546658 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 71.641349 deg,
      new cmd heading: 71.641349 deg.

2021-08-14T19:38:45.755Z,1628969925.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:46.049Z,1628969926.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:46.049Z,1628969926.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:46.050Z,1628969926.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:46.051Z,1628969926.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:46.450Z,1628969926.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,0038F,186,80,80,5E,FF
2021-08-14T19:38:46.450Z,1628969926.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:46.450Z,1628969926.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:46.497Z,1628969926.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:46.578Z,1628969926.578 [CTD_Seabird](ERROR): Failed to parse device response: 67
2021-08-14T19:38:46.857Z,1628969926.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:46.878Z,1628969926.878 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:38:47.258Z,1628969927.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,003B2,187,80,80,90,FF
2021-08-14T19:38:47.259Z,1628969927.259 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:47.284Z,1628969927.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:47.693Z,1628969927.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 82.234597 deg, deltaT: 4.389271 s, approachRate: 0.478440 m/s, LOS rate: -2.253479 deg/s, posRepo size: 4
2021-08-14T19:38:47.693Z,1628969927.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.26 m. Rolling out.
2021-08-14T19:38:47.694Z,1628969927.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T19:38:48.082Z,1628969928.082 [Micromodem](INFO): Nmea in: $SNTTA,0.031423,,,,193848.54*49

2021-08-14T19:38:50.151Z,1628969930.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:50.498Z,1628969930.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:50.498Z,1628969930.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:50.498Z,1628969930.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:50.499Z,1628969930.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:50.889Z,1628969930.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,003B2,187,80,80,90,FF
2021-08-14T19:38:50.889Z,1628969930.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:50.889Z,1628969930.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:50.891Z,1628969930.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:51.298Z,1628969931.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:51.711Z,1628969931.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,003C9,188,80,80,5C,FF
2021-08-14T19:38:51.716Z,1628969931.716 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:38:51.803Z,1628969931.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:38:52.146Z,1628969932.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193852.87*55

2021-08-14T19:38:52.196Z,1628969932.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 28.071891 deg, deltaT: 4.518568 s, approachRate: 0.305405 m/s, LOS rate: -11.986697 deg/s, posRepo size: 4
2021-08-14T19:38:53.784Z,1628969933.784 [DDM](ERROR): Could not parse whisker state
2021-08-14T19:38:54.578Z,1628969934.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:54.933Z,1628969934.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:38:54.933Z,1628969934.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:38:54.934Z,1628969934.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:38:54.934Z,1628969934.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:38:55.329Z,1628969935.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,003C9,188,80,80,5C,FF
2021-08-14T19:38:55.329Z,1628969935.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:38:55.329Z,1628969935.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:38:55.332Z,1628969935.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:38:55.788Z,1628969935.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:38:56.578Z,1628969936.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193857.31*5D

2021-08-14T19:38:57.367Z,1628969937.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:38:58.969Z,1628969938.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,188,80,80,5C,FF
2021-08-14T19:38:58.970Z,1628969938.970 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,188,80,80,5C,FF
2021-08-14T19:38:58.970Z,1628969938.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:38:59.889Z,1628969939.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:00.181Z,1628969940.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:00.181Z,1628969940.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:00.181Z,1628969940.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:00.182Z,1628969940.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:00.593Z,1628969940.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,188,80,80,5C,FF
2021-08-14T19:39:00.593Z,1628969940.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:00.593Z,1628969940.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:00.595Z,1628969940.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:00.994Z,1628969940.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:01.822Z,1628969941.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193902.57*5C

2021-08-14T19:39:02.667Z,1628969942.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:04.217Z,1628969944.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,188,80,80,5C,FF
2021-08-14T19:39:04.218Z,1628969944.218 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,188,80,80,5C,FF
2021-08-14T19:39:04.218Z,1628969944.218 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:39:05.447Z,1628969945.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:05.833Z,1628969945.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:05.833Z,1628969945.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:05.833Z,1628969945.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:05.834Z,1628969945.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:05.856Z,1628969945.856 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T19:39:06.242Z,1628969946.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,188,80,80,5C,FF
2021-08-14T19:39:06.242Z,1628969946.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:06.242Z,1628969946.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:06.243Z,1628969946.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:06.665Z,1628969946.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:07.045Z,1628969947.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,0043A,187,80,80,58,FF
2021-08-14T19:39:07.046Z,1628969947.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:07.120Z,1628969947.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:07.497Z,1628969947.497 [Micromodem](INFO): Nmea in: $SNTTA,0.062896,,,,193908.22*49

2021-08-14T19:39:07.527Z,1628969947.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.420002 m, bearing: 132.108344 deg, deltaT: 15.317350 s, approachRate: 0.442636 m/s, LOS rate: 6.792066 deg/s, posRepo size: 4
2021-08-14T19:39:09.912Z,1628969949.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:10.277Z,1628969950.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:10.277Z,1628969950.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:10.277Z,1628969950.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:10.278Z,1628969950.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:10.763Z,1628969950.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,0043A,187,80,80,58,FF
2021-08-14T19:39:10.763Z,1628969950.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:10.770Z,1628969950.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:10.773Z,1628969950.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:11.089Z,1628969951.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:11.497Z,1628969951.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00466,182,80,80,42,FF
2021-08-14T19:39:11.498Z,1628969951.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:11.518Z,1628969951.518 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:11.984Z,1628969951.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 125.311049 deg, deltaT: 4.397488 s, approachRate: 0.600342 m/s, LOS rate: -1.545722 deg/s, posRepo size: 4
2021-08-14T19:39:12.313Z,1628969952.313 [Micromodem](INFO): Nmea in: $SNTTA,0.057272,,,,193912.75*46

2021-08-14T19:39:14.033Z,1628969954.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:14.317Z,1628969954.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:14.317Z,1628969954.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:14.317Z,1628969954.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:14.318Z,1628969954.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:14.741Z,1628969954.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00466,182,80,80,42,FF
2021-08-14T19:39:14.741Z,1628969954.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:14.742Z,1628969954.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:14.743Z,1628969954.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:15.141Z,1628969955.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:15.534Z,1628969955.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00484,187,80,80,98,FF
2021-08-14T19:39:15.534Z,1628969955.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:15.578Z,1628969955.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:15.987Z,1628969955.987 [Micromodem](INFO): Nmea in: $SNTTA,0.036277,,,,193916.72*47

2021-08-14T19:39:16.040Z,1628969956.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 145.626928 deg, deltaT: 4.060189 s, approachRate: 0.443328 m/s, LOS rate: 5.003678 deg/s, posRepo size: 4
2021-08-14T19:39:18.401Z,1628969958.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:18.784Z,1628969958.784 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:18.785Z,1628969958.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:18.785Z,1628969958.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:18.786Z,1628969958.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:19.165Z,1628969959.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00484,187,80,80,98,FF
2021-08-14T19:39:19.165Z,1628969959.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:19.166Z,1628969959.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:19.167Z,1628969959.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:19.580Z,1628969959.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:19.998Z,1628969959.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,004A3,186,80,80,4F,FF
2021-08-14T19:39:19.999Z,1628969959.999 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:20.015Z,1628969960.015 [Micromodem](INFO): Nmea in: $SNTTA,0.306993,0.306750,,,193921.14*5B

2021-08-14T19:39:20.117Z,1628969960.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:20.414Z,1628969960.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 149.481354 deg, deltaT: 4.539676 s, approachRate: 0.409721 m/s, LOS rate: 0.849053 deg/s, posRepo size: 4
2021-08-14T19:39:22.838Z,1628969962.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:23.205Z,1628969963.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:23.205Z,1628969963.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:23.205Z,1628969963.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:23.206Z,1628969963.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:23.613Z,1628969963.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,004A3,186,80,80,4F,FF
2021-08-14T19:39:23.613Z,1628969963.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:23.613Z,1628969963.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:23.615Z,1628969963.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:24.053Z,1628969964.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:24.417Z,1628969964.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,004C5,183,80,80,8E,FF
2021-08-14T19:39:24.418Z,1628969964.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:24.437Z,1628969964.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:24.853Z,1628969964.853 [Micromodem](INFO): Nmea in: $SNTTA,0.481573,,,,193925.59*45

2021-08-14T19:39:24.901Z,1628969964.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.760002 m, bearing: 132.133028 deg, deltaT: 4.319694 s, approachRate: 0.472257 m/s, LOS rate: -4.016100 deg/s, posRepo size: 4
2021-08-14T19:39:27.268Z,1628969967.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:27.654Z,1628969967.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:27.654Z,1628969967.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:27.654Z,1628969967.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:27.655Z,1628969967.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:28.073Z,1628969968.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,004C5,183,80,80,8E,FF
2021-08-14T19:39:28.073Z,1628969968.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:28.074Z,1628969968.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:28.075Z,1628969968.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:28.467Z,1628969968.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:28.864Z,1628969968.864 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,004ED,184,80,80,57,FF
2021-08-14T19:39:28.864Z,1628969968.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:28.894Z,1628969968.894 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:29.293Z,1628969969.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193930.05*5A

2021-08-14T19:39:29.335Z,1628969969.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 127.755150 deg, deltaT: 4.456903 s, approachRate: 0.538489 m/s, LOS rate: -0.982269 deg/s, posRepo size: 4
2021-08-14T19:39:31.783Z,1628969971.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:32.097Z,1628969972.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:32.097Z,1628969972.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:32.097Z,1628969972.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:32.098Z,1628969972.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:32.513Z,1628969972.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,004ED,184,80,80,57,FF
2021-08-14T19:39:32.513Z,1628969972.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:32.513Z,1628969972.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:32.515Z,1628969972.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:32.909Z,1628969972.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:33.754Z,1628969973.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193934.49*56

2021-08-14T19:39:34.551Z,1628969974.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:36.141Z,1628969976.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,184,80,80,57,FF
2021-08-14T19:39:36.141Z,1628969976.141 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,184,80,80,57,FF
2021-08-14T19:39:36.141Z,1628969976.141 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:39:37.367Z,1628969977.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:37.773Z,1628969977.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:37.773Z,1628969977.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:37.773Z,1628969977.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:37.774Z,1628969977.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:38.162Z,1628969978.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,184,80,80,57,FF
2021-08-14T19:39:38.162Z,1628969978.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:38.162Z,1628969978.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:38.165Z,1628969978.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:38.556Z,1628969978.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:38.966Z,1628969978.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,00559,189,80,80,81,FF
2021-08-14T19:39:38.966Z,1628969978.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:39.020Z,1628969979.020 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T19:39:39.401Z,1628969979.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193940.14*5D

2021-08-14T19:39:39.433Z,1628969979.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 163.495399 deg, deltaT: 10.125982 s, approachRate: 0.639939 m/s, LOS rate: 3.529559 deg/s, posRepo size: 4
2021-08-14T19:39:39.844Z,1628969979.844 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T19:39:39.844Z,1628969979.844 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T19:39:39.844Z,1628969979.844 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T19:39:39.845Z,1628969979.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T19:39:39.845Z,1628969979.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T19:39:39.845Z,1628969979.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T19:39:40.221Z,1628969980.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T19:39:40.221Z,1628969980.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T19:39:40.221Z,1628969980.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T19:39:40.221Z,1628969980.221 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T19:39:41.832Z,1628969981.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:42.193Z,1628969982.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:42.193Z,1628969982.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:42.193Z,1628969982.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:42.194Z,1628969982.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:42.597Z,1628969982.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,00559,189,80,80,81,FF
2021-08-14T19:39:42.597Z,1628969982.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:42.598Z,1628969982.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:42.599Z,1628969982.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:43.004Z,1628969983.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:43.409Z,1628969983.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00583,187,80,80,5F,FF
2021-08-14T19:39:43.409Z,1628969983.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:43.858Z,1628969983.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193944.57*5E

2021-08-14T19:39:43.891Z,1628969983.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 156.115298 deg, deltaT: 4.409132 s, approachRate: 0.571539 m/s, LOS rate: -1.673822 deg/s, posRepo size: 4
2021-08-14T19:39:46.285Z,1628969986.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:46.637Z,1628969986.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:46.637Z,1628969986.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:46.637Z,1628969986.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:46.638Z,1628969986.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:47.041Z,1628969987.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00583,187,80,80,5F,FF
2021-08-14T19:39:47.041Z,1628969987.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:47.041Z,1628969987.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:47.043Z,1628969987.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:47.445Z,1628969987.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:47.857Z,1628969987.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,005B3,186,80,80,66,FF
2021-08-14T19:39:47.857Z,1628969987.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:48.265Z,1628969988.265 [Micromodem](INFO): Nmea in: $SNTTA,0.056346,0.367824,,,193949.02*5D

2021-08-14T19:39:48.311Z,1628969988.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 151.087159 deg, deltaT: 4.458504 s, approachRate: 0.645957 m/s, LOS rate: -1.127764 deg/s, posRepo size: 4
2021-08-14T19:39:50.750Z,1628969990.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:51.077Z,1628969991.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:51.077Z,1628969991.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:51.077Z,1628969991.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:51.078Z,1628969991.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:51.493Z,1628969991.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,005B3,186,80,80,66,FF
2021-08-14T19:39:51.493Z,1628969991.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:51.494Z,1628969991.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:51.495Z,1628969991.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:51.892Z,1628969991.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:52.301Z,1628969992.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,005DF,186,80,80,A4,FF
2021-08-14T19:39:52.302Z,1628969992.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:52.305Z,1628969992.305 [Micromodem](INFO): Nmea in: $SNTTA,0.142504,0.142617,,,193953.47*58

2021-08-14T19:39:52.760Z,1628969992.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 147.742893 deg, deltaT: 4.499005 s, approachRate: 0.586798 m/s, LOS rate: -0.743334 deg/s, posRepo size: 4
2021-08-14T19:39:55.155Z,1628969995.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:55.537Z,1628969995.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:55.537Z,1628969995.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:55.537Z,1628969995.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:55.538Z,1628969995.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:39:55.925Z,1628969995.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,005DF,186,80,80,A4,FF
2021-08-14T19:39:55.926Z,1628969995.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:39:55.926Z,1628969995.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:39:55.928Z,1628969995.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:39:56.337Z,1628969996.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:39:56.773Z,1628969996.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00611,186,80,80,92,FF
2021-08-14T19:39:56.773Z,1628969996.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:39:57.173Z,1628969997.173 [Micromodem](INFO): Nmea in: $SNTTA,0.060089,,,,193957.90*4E

2021-08-14T19:39:57.203Z,1628969997.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 145.970718 deg, deltaT: 4.416006 s, approachRate: 0.679346 m/s, LOS rate: -0.401307 deg/s, posRepo size: 4
2021-08-14T19:39:59.603Z,1628969999.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:39:59.980Z,1628969999.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:39:59.981Z,1628969999.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:39:59.982Z,1628969999.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:39:59.983Z,1628969999.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:00.381Z,1628970000.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00611,186,80,80,92,FF
2021-08-14T19:40:00.381Z,1628970000.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:00.381Z,1628970000.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:00.383Z,1628970000.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:00.864Z,1628970000.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:01.189Z,1628970001.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00642,186,80,80,A0,FF
2021-08-14T19:40:01.190Z,1628970001.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:01.624Z,1628970001.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194002.36*55

2021-08-14T19:40:01.656Z,1628970001.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 140.911474 deg, deltaT: 4.406444 s, approachRate: 0.667205 m/s, LOS rate: -1.148147 deg/s, posRepo size: 4
2021-08-14T19:40:04.120Z,1628970004.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:04.429Z,1628970004.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:04.429Z,1628970004.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:04.429Z,1628970004.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:04.430Z,1628970004.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:04.829Z,1628970004.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00642,186,80,80,A0,FF
2021-08-14T19:40:04.829Z,1628970004.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:04.829Z,1628970004.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:04.831Z,1628970004.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:05.232Z,1628970005.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:05.632Z,1628970005.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00675,187,80,80,A8,FF
2021-08-14T19:40:05.632Z,1628970005.632 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:06.090Z,1628970006.090 [Micromodem](INFO): Nmea in: $SNTTA,0.055815,,,,194006.80*4E

2021-08-14T19:40:06.157Z,1628970006.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 137.225945 deg, deltaT: 4.442548 s, approachRate: 0.688793 m/s, LOS rate: -0.829598 deg/s, posRepo size: 4
2021-08-14T19:40:08.505Z,1628970008.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:08.861Z,1628970008.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:08.861Z,1628970008.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:08.861Z,1628970008.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:08.862Z,1628970008.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:09.273Z,1628970009.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00675,187,80,80,A8,FF
2021-08-14T19:40:09.274Z,1628970009.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:09.274Z,1628970009.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:09.277Z,1628970009.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:09.668Z,1628970009.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:10.086Z,1628970010.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,006A4,184,80,80,B1,FF
2021-08-14T19:40:10.087Z,1628970010.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:10.501Z,1628970010.501 [Micromodem](INFO): Nmea in: $SNTTA,0.048776,,,,194011.25*41

2021-08-14T19:40:10.547Z,1628970010.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 134.326694 deg, deltaT: 4.531999 s, approachRate: 0.622244 m/s, LOS rate: -0.639729 deg/s, posRepo size: 4
2021-08-14T19:40:12.945Z,1628970012.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:13.310Z,1628970013.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:13.310Z,1628970013.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:13.310Z,1628970013.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:13.311Z,1628970013.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:13.724Z,1628970013.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,006A4,184,80,80,B1,FF
2021-08-14T19:40:13.725Z,1628970013.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:13.726Z,1628970013.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:13.736Z,1628970013.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:14.127Z,1628970014.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:14.946Z,1628970014.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194015.71*50

2021-08-14T19:40:15.819Z,1628970015.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:17.343Z,1628970017.343 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,B1,FF
2021-08-14T19:40:17.344Z,1628970017.344 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,B1,FF
2021-08-14T19:40:17.344Z,1628970017.344 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:40:18.574Z,1628970018.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:18.970Z,1628970018.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:18.970Z,1628970018.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:18.971Z,1628970018.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:18.971Z,1628970018.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:19.365Z,1628970019.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,B1,FF
2021-08-14T19:40:19.365Z,1628970019.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:19.365Z,1628970019.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:19.367Z,1628970019.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:19.791Z,1628970019.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:20.604Z,1628970020.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194021.34*56

2021-08-14T19:40:21.407Z,1628970021.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:22.997Z,1628970022.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,B1,FF
2021-08-14T19:40:22.997Z,1628970022.997 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,B1,FF
2021-08-14T19:40:22.998Z,1628970022.998 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:40:24.259Z,1628970024.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:24.613Z,1628970024.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:24.613Z,1628970024.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:24.613Z,1628970024.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:24.614Z,1628970024.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:25.029Z,1628970025.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,B1,FF
2021-08-14T19:40:25.029Z,1628970025.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:25.029Z,1628970025.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:25.031Z,1628970025.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:25.440Z,1628970025.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:25.838Z,1628970025.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00754,186,80,80,6B,FF
2021-08-14T19:40:25.841Z,1628970025.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:26.275Z,1628970026.275 [Micromodem](INFO): Nmea in: $SNTTA,,0.413544,,,194027.01*4B

2021-08-14T19:40:26.361Z,1628970026.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.059998 m, bearing: 122.545588 deg, deltaT: 15.706583 s, approachRate: 0.672329 m/s, LOS rate: -0.750074 deg/s, posRepo size: 4
2021-08-14T19:40:28.675Z,1628970028.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:29.069Z,1628970029.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:29.069Z,1628970029.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:29.070Z,1628970029.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:29.071Z,1628970029.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:29.483Z,1628970029.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00754,186,80,80,6B,FF
2021-08-14T19:40:29.483Z,1628970029.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:29.483Z,1628970029.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:29.486Z,1628970029.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:29.885Z,1628970029.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:30.281Z,1628970030.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00788,186,80,80,78,FF
2021-08-14T19:40:30.282Z,1628970030.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:30.717Z,1628970030.717 [Micromodem](INFO): Nmea in: $SNTTA,0.057483,,,,194031.46*41

2021-08-14T19:40:30.764Z,1628970030.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.180000 m, bearing: 114.735963 deg, deltaT: 4.465453 s, approachRate: 0.698698 m/s, LOS rate: -1.748899 deg/s, posRepo size: 4
2021-08-14T19:40:33.119Z,1628970033.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:33.517Z,1628970033.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:33.517Z,1628970033.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:33.517Z,1628970033.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:33.518Z,1628970033.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:33.924Z,1628970033.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00788,186,80,80,78,FF
2021-08-14T19:40:33.924Z,1628970033.924 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:33.925Z,1628970033.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:33.926Z,1628970033.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:34.325Z,1628970034.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:34.741Z,1628970034.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,007BD,186,80,80,7C,FF
2021-08-14T19:40:34.742Z,1628970034.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:35.153Z,1628970035.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194035.90*5D

2021-08-14T19:40:35.175Z,1628970035.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.360008 m, bearing: 115.400964 deg, deltaT: 4.444331 s, approachRate: 0.715520 m/s, LOS rate: 0.149629 deg/s, posRepo size: 4
2021-08-14T19:40:37.563Z,1628970037.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:37.964Z,1628970037.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:37.965Z,1628970037.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:37.965Z,1628970037.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:37.967Z,1628970037.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:38.361Z,1628970038.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,007BD,186,80,80,7C,FF
2021-08-14T19:40:38.361Z,1628970038.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:38.361Z,1628970038.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:38.363Z,1628970038.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:38.781Z,1628970038.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:39.170Z,1628970039.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,007F1,186,80,80,7E,FF
2021-08-14T19:40:39.170Z,1628970039.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:39.605Z,1628970039.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194040.34*51

2021-08-14T19:40:39.627Z,1628970039.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.480003 m, bearing: 112.353654 deg, deltaT: 4.394313 s, approachRate: 0.710007 m/s, LOS rate: -0.693467 deg/s, posRepo size: 4
2021-08-14T19:40:40.042Z,1628970040.042 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-14T19:40:42.122Z,1628970042.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:42.409Z,1628970042.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:42.409Z,1628970042.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:42.409Z,1628970042.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:42.410Z,1628970042.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:42.797Z,1628970042.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,007F1,186,80,80,7E,FF
2021-08-14T19:40:42.797Z,1628970042.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:42.797Z,1628970042.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:42.799Z,1628970042.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:43.219Z,1628970043.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:44.062Z,1628970044.062 [Micromodem](INFO): Nmea in: $SNTTA,0.440472,,,,194044.77*4D

2021-08-14T19:40:44.426Z,1628970044.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,02CDF,186,80,80,75,FF
2021-08-14T19:40:44.426Z,1628970044.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:44.862Z,1628970044.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 651.719971 m, bearing: 109.335448 deg, deltaT: 5.252038 s, approachRate: 108.003784 m/s, LOS rate: -0.574673 deg/s, posRepo size: 4
2021-08-14T19:40:47.266Z,1628970047.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:47.650Z,1628970047.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:47.650Z,1628970047.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:47.650Z,1628970047.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:47.651Z,1628970047.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:48.077Z,1628970048.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,02CDF,186,80,80,75,FF
2021-08-14T19:40:48.077Z,1628970048.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:48.077Z,1628970048.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:48.079Z,1628970048.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:48.459Z,1628970048.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:48.861Z,1628970048.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,00861,186,80,80,82,FF
2021-08-14T19:40:48.862Z,1628970048.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:49.283Z,1628970049.283 [Micromodem](INFO): Nmea in: $SNTTA,0.068297,,,,194050.05*4E

2021-08-14T19:40:49.317Z,1628970049.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.200005 m, bearing: 105.946903 deg, deltaT: 4.445187 s, approachRate: -126.095924 m/s, LOS rate: -0.762295 deg/s, posRepo size: 4
2021-08-14T19:40:51.751Z,1628970051.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:52.101Z,1628970052.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:52.101Z,1628970052.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:52.101Z,1628970052.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:52.102Z,1628970052.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:52.509Z,1628970052.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,00861,186,80,80,82,FF
2021-08-14T19:40:52.509Z,1628970052.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:52.509Z,1628970052.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:52.511Z,1628970052.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:52.897Z,1628970052.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:53.302Z,1628970053.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00894,187,80,80,70,FF
2021-08-14T19:40:53.302Z,1628970053.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:53.745Z,1628970053.745 [Micromodem](INFO): Nmea in: $SNTTA,0.095612,,,,194054.49*49

2021-08-14T19:40:53.789Z,1628970053.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 104.238604 deg, deltaT: 4.430133 s, approachRate: 0.690724 m/s, LOS rate: -0.385609 deg/s, posRepo size: 4
2021-08-14T19:40:56.185Z,1628970056.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:40:56.533Z,1628970056.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:40:56.533Z,1628970056.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:40:56.533Z,1628970056.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:40:56.534Z,1628970056.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:40:56.946Z,1628970056.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00894,187,80,80,70,FF
2021-08-14T19:40:56.946Z,1628970056.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:40:56.946Z,1628970056.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:40:56.948Z,1628970056.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:40:57.344Z,1628970057.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:40:57.781Z,1628970057.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,008C7,186,80,80,87,FF
2021-08-14T19:40:57.781Z,1628970057.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:40:58.194Z,1628970058.194 [Micromodem](INFO): Nmea in: $SNTTA,0.069648,,,,194058.92*4F

2021-08-14T19:40:58.230Z,1628970058.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 107.107120 deg, deltaT: 4.489133 s, approachRate: 0.681646 m/s, LOS rate: 0.638991 deg/s, posRepo size: 4
2021-08-14T19:41:00.609Z,1628970060.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:00.989Z,1628970060.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:00.989Z,1628970060.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:00.989Z,1628970060.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:00.990Z,1628970060.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:01.381Z,1628970061.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,008C7,186,80,80,87,FF
2021-08-14T19:41:01.381Z,1628970061.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:01.381Z,1628970061.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:01.383Z,1628970061.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:01.788Z,1628970061.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:02.201Z,1628970062.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,008F8,189,80,80,65,FF
2021-08-14T19:41:02.202Z,1628970062.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:02.205Z,1628970062.205 [Micromodem](INFO): Nmea in: $SNTTA,0.196881,0.196875,,,194103.36*5E

2021-08-14T19:41:02.623Z,1628970062.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 100.019938 deg, deltaT: 4.473341 s, approachRate: 0.657227 m/s, LOS rate: -1.584315 deg/s, posRepo size: 4
2021-08-14T19:41:05.055Z,1628970065.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:05.421Z,1628970065.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:05.421Z,1628970065.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:05.421Z,1628970065.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:05.422Z,1628970065.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:05.829Z,1628970065.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,008F8,189,80,80,65,FF
2021-08-14T19:41:05.829Z,1628970065.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:05.829Z,1628970065.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:05.831Z,1628970065.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:06.271Z,1628970066.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:06.657Z,1628970066.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25A,000,0092F,189,80,80,70,FF
2021-08-14T19:41:06.658Z,1628970066.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:07.117Z,1628970067.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 98.261704 deg, deltaT: 4.428909 s, approachRate: 0.745103 m/s, LOS rate: -0.396990 deg/s, posRepo size: 4
2021-08-14T19:41:09.515Z,1628970069.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:09.889Z,1628970069.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:09.889Z,1628970069.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:09.889Z,1628970069.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:09.890Z,1628970069.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:10.297Z,1628970070.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25A,000,0092F,189,80,80,70,FF
2021-08-14T19:41:10.298Z,1628970070.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:10.298Z,1628970070.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:10.299Z,1628970070.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:10.732Z,1628970070.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:10.754Z,1628970070.754 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T19:41:11.113Z,1628970071.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00962,189,80,80,7F,FF
2021-08-14T19:41:11.114Z,1628970071.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:11.552Z,1628970071.552 [Micromodem](INFO): Nmea in: $SNTTA,0.075148,,,,194112.28*4B

2021-08-14T19:41:11.571Z,1628970071.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.619995 m, bearing: 96.166256 deg, deltaT: 4.455897 s, approachRate: 0.686730 m/s, LOS rate: -0.470264 deg/s, posRepo size: 4
2021-08-14T19:41:14.036Z,1628970074.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:14.349Z,1628970074.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:14.349Z,1628970074.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:14.349Z,1628970074.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:14.350Z,1628970074.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:14.761Z,1628970074.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00962,189,80,80,7F,FF
2021-08-14T19:41:14.761Z,1628970074.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:14.761Z,1628970074.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:14.763Z,1628970074.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:15.160Z,1628970075.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:15.550Z,1628970075.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,00994,188,80,80,68,FF
2021-08-14T19:41:15.550Z,1628970075.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:16.009Z,1628970076.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194116.74*57

2021-08-14T19:41:16.066Z,1628970076.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 98.149900 deg, deltaT: 4.436851 s, approachRate: 0.676157 m/s, LOS rate: 0.447084 deg/s, posRepo size: 4
2021-08-14T19:41:18.417Z,1628970078.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:18.793Z,1628970078.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:18.793Z,1628970078.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:18.793Z,1628970078.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:18.794Z,1628970078.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:19.209Z,1628970079.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,00994,188,80,80,68,FF
2021-08-14T19:41:19.209Z,1628970079.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:19.209Z,1628970079.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:19.211Z,1628970079.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:19.585Z,1628970079.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:20.045Z,1628970080.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,009C3,189,80,80,69,FF
2021-08-14T19:41:20.045Z,1628970080.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:20.425Z,1628970080.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194121.19*58

2021-08-14T19:41:20.475Z,1628970080.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.440002 m, bearing: 98.467805 deg, deltaT: 4.522062 s, approachRate: 0.623609 m/s, LOS rate: 0.070301 deg/s, posRepo size: 4
2021-08-14T19:41:22.869Z,1628970082.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:23.233Z,1628970083.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:23.233Z,1628970083.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:23.234Z,1628970083.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:23.234Z,1628970083.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:23.625Z,1628970083.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,009C3,189,80,80,69,FF
2021-08-14T19:41:23.625Z,1628970083.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:23.625Z,1628970083.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:23.627Z,1628970083.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:24.070Z,1628970084.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:24.445Z,1628970084.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,009F3,189,80,80,6B,FF
2021-08-14T19:41:24.446Z,1628970084.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:24.875Z,1628970084.875 [Micromodem](INFO): Nmea in: $SNTTA,0.076420,,,,194125.60*4B

2021-08-14T19:41:24.919Z,1628970084.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.320000 m, bearing: 94.247745 deg, deltaT: 4.372160 s, approachRate: 0.658713 m/s, LOS rate: -0.965212 deg/s, posRepo size: 4
2021-08-14T19:41:27.313Z,1628970087.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:27.669Z,1628970087.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:27.669Z,1628970087.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:27.669Z,1628970087.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:27.670Z,1628970087.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:28.080Z,1628970088.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,009F3,189,80,80,6B,FF
2021-08-14T19:41:28.080Z,1628970088.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:28.081Z,1628970088.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:28.084Z,1628970088.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:28.478Z,1628970088.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:28.885Z,1628970088.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00A2A,189,80,80,7A,FF
2021-08-14T19:41:28.885Z,1628970088.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:29.309Z,1628970089.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194130.06*56

2021-08-14T19:41:29.351Z,1628970089.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 96.811873 deg, deltaT: 4.466812 s, approachRate: 0.738783 m/s, LOS rate: 0.574040 deg/s, posRepo size: 4
2021-08-14T19:41:31.753Z,1628970091.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:32.113Z,1628970092.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:32.113Z,1628970092.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:32.113Z,1628970092.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:32.114Z,1628970092.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:32.518Z,1628970092.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00A2A,189,80,80,7A,FF
2021-08-14T19:41:32.518Z,1628970092.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:32.518Z,1628970092.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:32.520Z,1628970092.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:32.932Z,1628970092.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:33.325Z,1628970093.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00A5B,189,80,80,6F,FF
2021-08-14T19:41:33.326Z,1628970093.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:33.790Z,1628970093.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194134.49*59

2021-08-14T19:41:33.842Z,1628970093.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.560005 m, bearing: 95.332297 deg, deltaT: 4.405316 s, approachRate: 0.667376 m/s, LOS rate: -0.335862 deg/s, posRepo size: 4
2021-08-14T19:41:36.198Z,1628970096.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:36.557Z,1628970096.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:36.557Z,1628970096.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:36.557Z,1628970096.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:36.558Z,1628970096.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:36.957Z,1628970096.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00A5B,189,80,80,6F,FF
2021-08-14T19:41:36.957Z,1628970096.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:36.957Z,1628970096.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:36.959Z,1628970096.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:37.364Z,1628970097.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:37.781Z,1628970097.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00A8F,189,80,80,6F,FF
2021-08-14T19:41:37.781Z,1628970097.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:38.189Z,1628970098.189 [Micromodem](INFO): Nmea in: $SNTTA,0.449969,0.450031,,,194138.93*5E

2021-08-14T19:41:38.253Z,1628970098.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.680008 m, bearing: 92.457826 deg, deltaT: 4.497447 s, approachRate: 0.693727 m/s, LOS rate: -0.639134 deg/s, posRepo size: 4
2021-08-14T19:41:40.615Z,1628970100.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:41.009Z,1628970101.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:41.009Z,1628970101.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:41.009Z,1628970101.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:41.010Z,1628970101.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:41.409Z,1628970101.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00A8F,189,80,80,6F,FF
2021-08-14T19:41:41.409Z,1628970101.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:41.409Z,1628970101.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:41.411Z,1628970101.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:41.813Z,1628970101.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:42.213Z,1628970102.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00AC1,189,80,80,7B,FF
2021-08-14T19:41:42.214Z,1628970102.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:42.645Z,1628970102.645 [Micromodem](INFO): Nmea in: $SNTTA,0.084595,,,,194143.39*45

2021-08-14T19:41:42.688Z,1628970102.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.680000 m, bearing: 94.156692 deg, deltaT: 4.415591 s, approachRate: 0.679409 m/s, LOS rate: 0.384743 deg/s, posRepo size: 4
2021-08-14T19:41:45.065Z,1628970105.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:45.450Z,1628970105.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:45.450Z,1628970105.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:45.450Z,1628970105.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:45.451Z,1628970105.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:45.846Z,1628970105.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,00AC1,189,80,80,7B,FF
2021-08-14T19:41:45.847Z,1628970105.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:45.847Z,1628970105.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:45.849Z,1628970105.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:46.301Z,1628970106.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:46.713Z,1628970106.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,00AF3,189,80,80,79,FF
2021-08-14T19:41:46.715Z,1628970106.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:47.125Z,1628970107.125 [Micromodem](INFO): Nmea in: $SNTTA,0.088986,,,,194147.83*42

2021-08-14T19:41:47.167Z,1628970107.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 96.471286 deg, deltaT: 4.534367 s, approachRate: 0.661616 m/s, LOS rate: 0.510456 deg/s, posRepo size: 4
2021-08-14T19:41:49.584Z,1628970109.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:49.941Z,1628970109.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:49.941Z,1628970109.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:49.941Z,1628970109.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:49.942Z,1628970109.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:50.353Z,1628970110.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,00AF3,189,80,80,79,FF
2021-08-14T19:41:50.353Z,1628970110.353 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:50.353Z,1628970110.353 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:50.355Z,1628970110.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:50.773Z,1628970110.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:51.146Z,1628970111.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,00B29,189,80,80,7C,FF
2021-08-14T19:41:51.146Z,1628970111.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:51.557Z,1628970111.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194152.33*54

2021-08-14T19:41:51.598Z,1628970111.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.919998 m, bearing: 92.907819 deg, deltaT: 4.379026 s, approachRate: 0.739888 m/s, LOS rate: -0.813758 deg/s, posRepo size: 4
2021-08-14T19:41:54.061Z,1628970114.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:54.369Z,1628970114.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:54.369Z,1628970114.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:54.370Z,1628970114.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:54.371Z,1628970114.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:54.778Z,1628970114.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,00B29,189,80,80,7C,FF
2021-08-14T19:41:54.778Z,1628970114.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:54.778Z,1628970114.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:54.779Z,1628970114.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:55.180Z,1628970115.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:41:55.589Z,1628970115.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,00B5A,189,80,80,4E,FF
2021-08-14T19:41:55.590Z,1628970115.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:41:56.049Z,1628970116.049 [Micromodem](INFO): Nmea in: $SNTTA,0.090720,,,,194156.75*40

2021-08-14T19:41:56.112Z,1628970116.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.860001 m, bearing: 91.745724 deg, deltaT: 4.486934 s, approachRate: 0.655236 m/s, LOS rate: -0.258995 deg/s, posRepo size: 4
2021-08-14T19:41:58.441Z,1628970118.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:41:58.817Z,1628970118.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:41:58.817Z,1628970118.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:41:58.817Z,1628970118.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:41:58.818Z,1628970118.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:41:59.217Z,1628970119.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,00B5A,189,80,80,4E,FF
2021-08-14T19:41:59.217Z,1628970119.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:41:59.218Z,1628970119.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:41:59.219Z,1628970119.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:41:59.633Z,1628970119.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:00.053Z,1628970120.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,00B91,189,80,80,5C,FF
2021-08-14T19:42:00.053Z,1628970120.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:00.470Z,1628970120.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194201.20*53

2021-08-14T19:42:00.502Z,1628970120.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.160004 m, bearing: 92.127231 deg, deltaT: 4.452221 s, approachRate: 0.741204 m/s, LOS rate: 0.085689 deg/s, posRepo size: 4
2021-08-14T19:42:02.909Z,1628970122.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:03.261Z,1628970123.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:03.262Z,1628970123.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:03.262Z,1628970123.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:03.263Z,1628970123.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:03.677Z,1628970123.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,00B91,189,80,80,5C,FF
2021-08-14T19:42:03.677Z,1628970123.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:03.678Z,1628970123.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:03.679Z,1628970123.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:04.077Z,1628970124.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:04.474Z,1628970124.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00BC3,189,80,80,5C,FF
2021-08-14T19:42:04.475Z,1628970124.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:04.905Z,1628970124.905 [Micromodem](INFO): Nmea in: $SNTTA,,0.087907,,,194205.66*4A

2021-08-14T19:42:04.943Z,1628970124.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.160004 m, bearing: 94.613372 deg, deltaT: 4.361223 s, approachRate: 0.687880 m/s, LOS rate: 0.570056 deg/s, posRepo size: 4
2021-08-14T19:42:07.335Z,1628970127.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:07.712Z,1628970127.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:07.713Z,1628970127.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:07.713Z,1628970127.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:07.715Z,1628970127.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:08.105Z,1628970128.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00BC3,189,80,80,5C,FF
2021-08-14T19:42:08.105Z,1628970128.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:08.105Z,1628970128.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:08.107Z,1628970128.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:08.525Z,1628970128.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:08.922Z,1628970128.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,00BF7,18A,80,80,47,FF
2021-08-14T19:42:08.922Z,1628970128.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:09.354Z,1628970129.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194210.08*59

2021-08-14T19:42:09.374Z,1628970129.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.279999 m, bearing: 94.556456 deg, deltaT: 4.493977 s, approachRate: 0.694261 m/s, LOS rate: -0.012665 deg/s, posRepo size: 4
2021-08-14T19:42:11.814Z,1628970131.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:12.145Z,1628970132.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:12.145Z,1628970132.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:12.145Z,1628970132.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:12.146Z,1628970132.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:12.549Z,1628970132.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,00BF7,18A,80,80,47,FF
2021-08-14T19:42:12.549Z,1628970132.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:12.549Z,1628970132.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:12.551Z,1628970132.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:12.957Z,1628970132.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:13.371Z,1628970133.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,00C28,189,80,80,46,FF
2021-08-14T19:42:13.371Z,1628970133.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:13.801Z,1628970133.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194214.53*53

2021-08-14T19:42:13.827Z,1628970133.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.220001 m, bearing: 92.625131 deg, deltaT: 4.403656 s, approachRate: 0.667628 m/s, LOS rate: -0.438573 deg/s, posRepo size: 4
2021-08-14T19:42:16.242Z,1628970136.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:16.589Z,1628970136.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:16.589Z,1628970136.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:16.589Z,1628970136.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:16.590Z,1628970136.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:17.005Z,1628970137.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,00C28,189,80,80,46,FF
2021-08-14T19:42:17.005Z,1628970137.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:17.005Z,1628970137.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:17.007Z,1628970137.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:17.409Z,1628970137.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:17.798Z,1628970137.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,00C68,189,80,80,46,FF
2021-08-14T19:42:17.799Z,1628970137.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:18.217Z,1628970138.217 [Micromodem](INFO): Nmea in: $SNTTA,0.425307,0.425295,,,194218.98*52

2021-08-14T19:42:18.291Z,1628970138.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.059998 m, bearing: 92.480782 deg, deltaT: 4.472652 s, approachRate: 0.858550 m/s, LOS rate: -0.032274 deg/s, posRepo size: 4
2021-08-14T19:42:20.647Z,1628970140.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:21.033Z,1628970141.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:21.033Z,1628970141.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:21.033Z,1628970141.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:21.034Z,1628970141.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:21.437Z,1628970141.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,00C68,189,80,80,46,FF
2021-08-14T19:42:21.437Z,1628970141.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:21.437Z,1628970141.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:21.439Z,1628970141.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:21.848Z,1628970141.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:22.263Z,1628970142.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00C94,186,80,80,52,FF
2021-08-14T19:42:22.263Z,1628970142.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:22.267Z,1628970142.267 [Micromodem](INFO): Nmea in: $SNTTA,0.126554,0.167788,,,194223.42*51

2021-08-14T19:42:22.699Z,1628970142.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.700012 m, bearing: 153.230240 deg, deltaT: 4.463963 s, approachRate: 0.591406 m/s, LOS rate: 13.608862 deg/s, posRepo size: 4
2021-08-14T19:42:25.127Z,1628970145.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:25.486Z,1628970145.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:25.486Z,1628970145.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:25.486Z,1628970145.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:25.486Z,1628970145.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:25.901Z,1628970145.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00C94,186,80,80,52,FF
2021-08-14T19:42:25.902Z,1628970145.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:25.903Z,1628970145.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:25.937Z,1628970145.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:26.309Z,1628970146.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:27.124Z,1628970147.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00CCB,187,80,80,57,FF
2021-08-14T19:42:27.125Z,1628970147.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:27.533Z,1628970147.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194228.00*5A

2021-08-14T19:42:27.564Z,1628970147.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.000000 m, bearing: 153.606105 deg, deltaT: 4.811332 s, approachRate: 0.685878 m/s, LOS rate: 0.078121 deg/s, posRepo size: 4
2021-08-14T19:42:30.025Z,1628970150.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:30.345Z,1628970150.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:30.345Z,1628970150.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:30.346Z,1628970150.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:30.347Z,1628970150.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:30.773Z,1628970150.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00CCB,187,80,80,57,FF
2021-08-14T19:42:30.773Z,1628970150.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:30.773Z,1628970150.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:30.775Z,1628970150.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:31.156Z,1628970151.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:31.562Z,1628970151.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00CCB,187,80,80,57,FF
2021-08-14T19:42:31.562Z,1628970151.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:31.977Z,1628970151.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194232.75*53

2021-08-14T19:42:32.053Z,1628970152.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.000000 m, bearing: 153.736685 deg, deltaT: 4.484664 s, approachRate: 0.000000 m/s, LOS rate: 0.029117 deg/s, posRepo size: 4
2021-08-14T19:42:34.414Z,1628970154.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:34.785Z,1628970154.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:34.785Z,1628970154.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:34.785Z,1628970154.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:34.786Z,1628970154.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:35.189Z,1628970155.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00CCB,187,80,80,57,FF
2021-08-14T19:42:35.189Z,1628970155.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:35.189Z,1628970155.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:35.191Z,1628970155.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:35.610Z,1628970155.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:36.049Z,1628970156.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:36.049Z,1628970156.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:36.437Z,1628970156.437 [Micromodem](INFO): Nmea in: $SNTTA,0.112106,,,,194237.17*49

2021-08-14T19:42:36.489Z,1628970156.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 152.595155 deg, deltaT: 4.518771 s, approachRate: 1.420740 m/s, LOS rate: -0.252619 deg/s, posRepo size: 4
2021-08-14T19:42:38.875Z,1628970158.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:39.233Z,1628970159.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:39.233Z,1628970159.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:39.233Z,1628970159.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:39.234Z,1628970159.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:39.649Z,1628970159.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:39.649Z,1628970159.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:39.649Z,1628970159.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:39.651Z,1628970159.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:40.056Z,1628970160.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:40.454Z,1628970160.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:40.454Z,1628970160.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:40.885Z,1628970160.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194241.63*50

2021-08-14T19:42:40.966Z,1628970160.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 152.331892 deg, deltaT: 4.366495 s, approachRate: 0.000000 m/s, LOS rate: -0.060292 deg/s, posRepo size: 4
2021-08-14T19:42:43.295Z,1628970163.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:43.692Z,1628970163.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:43.692Z,1628970163.692 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:43.693Z,1628970163.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:43.694Z,1628970163.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:44.089Z,1628970164.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:44.089Z,1628970164.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:44.090Z,1628970164.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:44.091Z,1628970164.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:44.497Z,1628970164.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:44.890Z,1628970164.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:44.890Z,1628970164.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:45.330Z,1628970165.330 [Micromodem](INFO): Nmea in: $SNTTA,0.120506,,,,194246.07*4B

2021-08-14T19:42:45.346Z,1628970165.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 151.802457 deg, deltaT: 4.451746 s, approachRate: 0.000000 m/s, LOS rate: -0.118928 deg/s, posRepo size: 4
2021-08-14T19:42:47.806Z,1628970167.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:48.121Z,1628970168.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:48.121Z,1628970168.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:48.121Z,1628970168.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:48.122Z,1628970168.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:48.537Z,1628970168.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:48.537Z,1628970168.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:48.537Z,1628970168.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:48.539Z,1628970168.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:48.929Z,1628970168.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:49.354Z,1628970169.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:49.355Z,1628970169.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:49.786Z,1628970169.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194250.51*51

2021-08-14T19:42:49.812Z,1628970169.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 152.313082 deg, deltaT: 4.458128 s, approachRate: 0.000000 m/s, LOS rate: 0.114538 deg/s, posRepo size: 4
2021-08-14T19:42:52.207Z,1628970172.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:52.574Z,1628970172.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:52.574Z,1628970172.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:52.574Z,1628970172.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:52.575Z,1628970172.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:52.977Z,1628970172.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:52.978Z,1628970172.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:52.978Z,1628970172.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:52.979Z,1628970172.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:53.382Z,1628970173.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:53.786Z,1628970173.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:53.786Z,1628970173.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:54.225Z,1628970174.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194254.96*5E

2021-08-14T19:42:54.271Z,1628970174.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 152.441940 deg, deltaT: 4.430420 s, approachRate: 0.000000 m/s, LOS rate: 0.029085 deg/s, posRepo size: 4
2021-08-14T19:42:56.668Z,1628970176.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:42:57.013Z,1628970177.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:42:57.014Z,1628970177.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:42:57.014Z,1628970177.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:42:57.015Z,1628970177.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:42:57.415Z,1628970177.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00D36,187,80,80,5C,FF
2021-08-14T19:42:57.415Z,1628970177.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:42:57.415Z,1628970177.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:42:57.418Z,1628970177.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:42:57.821Z,1628970177.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:42:58.222Z,1628970178.222 [Micromodem](INFO): Nmea in: $SNTTA,0.178602,0.218717,,,194259.39*56

2021-08-14T19:42:58.637Z,1628970178.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00E40,187,80,80,63,FF
2021-08-14T19:42:58.637Z,1628970178.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:42:59.101Z,1628970179.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.379990 m, bearing: 151.590229 deg, deltaT: 4.803105 s, approachRate: 3.322849 m/s, LOS rate: -0.177325 deg/s, posRepo size: 4
2021-08-14T19:43:01.522Z,1628970181.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:01.857Z,1628970181.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:01.857Z,1628970181.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:01.857Z,1628970181.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:01.858Z,1628970181.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:02.269Z,1628970182.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00E40,187,80,80,63,FF
2021-08-14T19:43:02.270Z,1628970182.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:02.270Z,1628970182.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:02.272Z,1628970182.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:02.677Z,1628970182.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:03.501Z,1628970183.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00E7B,186,80,80,79,FF
2021-08-14T19:43:03.501Z,1628970183.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:03.504Z,1628970183.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194304.25*52

2021-08-14T19:43:03.935Z,1628970183.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.919998 m, bearing: 149.340556 deg, deltaT: 4.892696 s, approachRate: 0.723529 m/s, LOS rate: -0.459802 deg/s, posRepo size: 4
2021-08-14T19:43:06.369Z,1628970186.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:06.732Z,1628970186.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:06.733Z,1628970186.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:06.733Z,1628970186.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:06.735Z,1628970186.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:07.109Z,1628970187.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00E7B,186,80,80,79,FF
2021-08-14T19:43:07.110Z,1628970187.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:07.110Z,1628970187.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:07.112Z,1628970187.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:07.521Z,1628970187.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:08.353Z,1628970188.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00EB1,187,80,80,72,FF
2021-08-14T19:43:08.353Z,1628970188.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:08.356Z,1628970188.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194309.09*51

2021-08-14T19:43:08.792Z,1628970188.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.160004 m, bearing: 148.168018 deg, deltaT: 4.843953 s, approachRate: 0.668876 m/s, LOS rate: -0.242062 deg/s, posRepo size: 4
2021-08-14T19:43:11.187Z,1628970191.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:11.557Z,1628970191.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:11.557Z,1628970191.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:11.557Z,1628970191.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:11.558Z,1628970191.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:11.977Z,1628970191.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00EB1,187,80,80,72,FF
2021-08-14T19:43:11.977Z,1628970191.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:11.978Z,1628970191.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:11.985Z,1628970191.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:12.382Z,1628970192.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:13.179Z,1628970193.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00EEC,186,80,80,77,FF
2021-08-14T19:43:13.184Z,1628970193.184 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:13.190Z,1628970193.190 [Micromodem](INFO): Nmea in: $SNTTA,0.129623,,,,194313.96*4F

2021-08-14T19:43:13.597Z,1628970193.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.699982 m, bearing: 150.095429 deg, deltaT: 4.842679 s, approachRate: 0.730996 m/s, LOS rate: 0.398005 deg/s, posRepo size: 4
2021-08-14T19:43:16.055Z,1628970196.055 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:43:16.111Z,1628970196.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:16.409Z,1628970196.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:16.409Z,1628970196.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:16.409Z,1628970196.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:16.410Z,1628970196.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:16.813Z,1628970196.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00EEC,186,80,80,77,FF
2021-08-14T19:43:16.814Z,1628970196.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:16.814Z,1628970196.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:16.816Z,1628970196.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:17.213Z,1628970197.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:18.049Z,1628970198.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00F25,187,80,80,68,FF
2021-08-14T19:43:18.050Z,1628970198.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:18.053Z,1628970198.053 [Micromodem](INFO): Nmea in: $SNTTA,0.131927,,,,194318.79*47

2021-08-14T19:43:18.466Z,1628970198.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.119995 m, bearing: 149.202873 deg, deltaT: 4.928620 s, approachRate: 0.693909 m/s, LOS rate: -0.181096 deg/s, posRepo size: 4
2021-08-14T19:43:20.897Z,1628970200.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:21.253Z,1628970201.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:21.254Z,1628970201.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:21.254Z,1628970201.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:21.255Z,1628970201.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:21.653Z,1628970201.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00F25,187,80,80,68,FF
2021-08-14T19:43:21.653Z,1628970201.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:21.653Z,1628970201.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:21.655Z,1628970201.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:22.061Z,1628970202.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:22.897Z,1628970202.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00F5D,185,80,80,70,FF
2021-08-14T19:43:22.897Z,1628970202.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:22.900Z,1628970202.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194323.63*55

2021-08-14T19:43:23.312Z,1628970203.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.479980 m, bearing: 147.451107 deg, deltaT: 4.763287 s, approachRate: 0.705392 m/s, LOS rate: -0.367764 deg/s, posRepo size: 4
2021-08-14T19:43:25.754Z,1628970205.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:26.093Z,1628970206.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:26.093Z,1628970206.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:26.094Z,1628970206.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:26.095Z,1628970206.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:26.115Z,1628970206.115 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T19:43:26.513Z,1628970206.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00F5D,185,80,80,70,FF
2021-08-14T19:43:26.513Z,1628970206.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:26.513Z,1628970206.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:26.515Z,1628970206.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:26.909Z,1628970206.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:27.765Z,1628970207.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00F94,186,80,80,6D,FF
2021-08-14T19:43:27.765Z,1628970207.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:27.768Z,1628970207.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194328.49*56

2021-08-14T19:43:28.166Z,1628970208.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.779999 m, bearing: 148.048284 deg, deltaT: 4.872885 s, approachRate: 0.677221 m/s, LOS rate: 0.122551 deg/s, posRepo size: 4
2021-08-14T19:43:30.563Z,1628970210.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:30.946Z,1628970210.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:30.946Z,1628970210.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:30.946Z,1628970210.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:30.947Z,1628970210.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:31.360Z,1628970211.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00F94,186,80,80,6D,FF
2021-08-14T19:43:31.360Z,1628970211.360 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:31.361Z,1628970211.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:31.362Z,1628970211.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:31.781Z,1628970211.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:32.159Z,1628970212.159 [Micromodem](INFO): Nmea in: $SNTTA,0.139065,0.206617,,,194333.34*5A

2021-08-14T19:43:32.570Z,1628970212.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00FCC,186,80,80,6F,FF
2021-08-14T19:43:32.571Z,1628970212.571 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:33.035Z,1628970213.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.139999 m, bearing: 147.689317 deg, deltaT: 4.809914 s, approachRate: 0.698557 m/s, LOS rate: -0.074631 deg/s, posRepo size: 4
2021-08-14T19:43:35.427Z,1628970215.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:35.809Z,1628970215.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:35.809Z,1628970215.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:35.809Z,1628970215.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:35.810Z,1628970215.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:36.201Z,1628970216.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00FCC,186,80,80,6F,FF
2021-08-14T19:43:36.201Z,1628970216.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:36.201Z,1628970216.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:36.203Z,1628970216.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:36.613Z,1628970216.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:37.433Z,1628970217.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00FFF,186,80,80,77,FF
2021-08-14T19:43:37.433Z,1628970217.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:37.436Z,1628970217.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194338.18*53

2021-08-14T19:43:37.886Z,1628970217.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.199997 m, bearing: 148.090563 deg, deltaT: 4.878283 s, approachRate: 0.627269 m/s, LOS rate: 0.082252 deg/s, posRepo size: 4
2021-08-14T19:43:40.291Z,1628970220.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:40.645Z,1628970220.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:40.645Z,1628970220.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:40.645Z,1628970220.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:40.646Z,1628970220.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:41.057Z,1628970221.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00FFF,186,80,80,77,FF
2021-08-14T19:43:41.058Z,1628970221.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:41.058Z,1628970221.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:41.060Z,1628970221.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:41.459Z,1628970221.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:42.277Z,1628970222.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0103A,186,80,80,78,FF
2021-08-14T19:43:42.277Z,1628970222.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:42.281Z,1628970222.281 [Micromodem](INFO): Nmea in: $SNTTA,0.397458,,,,194343.04*48

2021-08-14T19:43:42.748Z,1628970222.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.739990 m, bearing: 146.087911 deg, deltaT: 4.873348 s, approachRate: 0.726399 m/s, LOS rate: -0.410940 deg/s, posRepo size: 4
2021-08-14T19:43:45.107Z,1628970225.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:45.497Z,1628970225.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:45.498Z,1628970225.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:45.498Z,1628970225.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:45.499Z,1628970225.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:45.902Z,1628970225.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0103A,186,80,80,78,FF
2021-08-14T19:43:45.902Z,1628970225.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:45.902Z,1628970225.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:45.904Z,1628970225.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:46.317Z,1628970226.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:46.341Z,1628970226.341 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T19:43:47.129Z,1628970227.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,0107A,185,80,80,6E,FF
2021-08-14T19:43:47.130Z,1628970227.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:47.133Z,1628970227.133 [Micromodem](INFO): Nmea in: $SNTTA,0.151570,,,,194347.88*4B

2021-08-14T19:43:47.570Z,1628970227.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.580002 m, bearing: 147.934808 deg, deltaT: 4.821727 s, approachRate: 0.796398 m/s, LOS rate: 0.383036 deg/s, posRepo size: 4
2021-08-14T19:43:50.039Z,1628970230.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:50.349Z,1628970230.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:50.349Z,1628970230.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:50.349Z,1628970230.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:50.350Z,1628970230.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:50.802Z,1628970230.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,0107A,185,80,80,6E,FF
2021-08-14T19:43:50.802Z,1628970230.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:50.802Z,1628970230.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:50.804Z,1628970230.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:51.185Z,1628970231.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:52.015Z,1628970232.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,010AC,187,80,80,65,FF
2021-08-14T19:43:52.016Z,1628970232.016 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:52.018Z,1628970232.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194352.78*59

2021-08-14T19:43:52.412Z,1628970232.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.579987 m, bearing: 147.681285 deg, deltaT: 4.925158 s, approachRate: 0.609114 m/s, LOS rate: -0.051475 deg/s, posRepo size: 4
2021-08-14T19:43:54.843Z,1628970234.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:43:55.217Z,1628970235.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:43:55.217Z,1628970235.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:43:55.217Z,1628970235.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:43:55.218Z,1628970235.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:43:55.621Z,1628970235.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,010AC,187,80,80,65,FF
2021-08-14T19:43:55.621Z,1628970235.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:43:55.621Z,1628970235.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:43:55.623Z,1628970235.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:43:56.085Z,1628970236.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:43:56.119Z,1628970236.119 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T19:43:56.853Z,1628970236.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,010E3,185,80,80,57,FF
2021-08-14T19:43:56.853Z,1628970236.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:43:56.857Z,1628970236.857 [Micromodem](INFO): Nmea in: $SNTTA,0.326827,,,,194357.60*41

2021-08-14T19:43:57.266Z,1628970237.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.879990 m, bearing: 146.835543 deg, deltaT: 4.799553 s, approachRate: 0.687565 m/s, LOS rate: -0.176213 deg/s, posRepo size: 4
2021-08-14T19:43:59.678Z,1628970239.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:00.070Z,1628970240.070 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:00.070Z,1628970240.070 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:00.070Z,1628970240.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:00.071Z,1628970240.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:00.458Z,1628970240.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,010E3,185,80,80,57,FF
2021-08-14T19:44:00.458Z,1628970240.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:00.458Z,1628970240.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:00.461Z,1628970240.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:00.885Z,1628970240.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:01.701Z,1628970241.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8F,000,0111B,186,80,80,57,FF
2021-08-14T19:44:01.703Z,1628970241.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:01.741Z,1628970241.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194402.44*54

2021-08-14T19:44:02.148Z,1628970242.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.240005 m, bearing: 145.685736 deg, deltaT: 4.884763 s, approachRate: 0.687856 m/s, LOS rate: -0.235387 deg/s, posRepo size: 4
2021-08-14T19:44:04.523Z,1628970244.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:04.914Z,1628970244.914 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:04.914Z,1628970244.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:04.915Z,1628970244.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:04.917Z,1628970244.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:05.314Z,1628970245.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8F,000,0111B,186,80,80,57,FF
2021-08-14T19:44:05.314Z,1628970245.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:05.314Z,1628970245.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:05.316Z,1628970245.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:05.746Z,1628970245.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:06.546Z,1628970246.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,0114F,186,80,80,5D,FF
2021-08-14T19:44:06.546Z,1628970246.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:06.551Z,1628970246.551 [Micromodem](INFO): Nmea in: $SNTTA,0.268855,,,,194407.29*40

2021-08-14T19:44:06.963Z,1628970246.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.359985 m, bearing: 148.144372 deg, deltaT: 4.807885 s, approachRate: 0.648930 m/s, LOS rate: 0.511376 deg/s, posRepo size: 4
2021-08-14T19:44:09.363Z,1628970249.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:09.786Z,1628970249.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:09.786Z,1628970249.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:09.786Z,1628970249.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:09.787Z,1628970249.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:10.161Z,1628970250.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,0114F,186,80,80,5D,FF
2021-08-14T19:44:10.161Z,1628970250.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:10.161Z,1628970250.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:10.163Z,1628970250.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:10.577Z,1628970250.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:11.393Z,1628970251.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,0118B,186,80,80,61,FF
2021-08-14T19:44:11.393Z,1628970251.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:11.397Z,1628970251.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194412.14*50

2021-08-14T19:44:11.823Z,1628970251.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.959976 m, bearing: 147.581455 deg, deltaT: 4.858113 s, approachRate: 0.741027 m/s, LOS rate: -0.115872 deg/s, posRepo size: 4
2021-08-14T19:44:14.242Z,1628970254.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:14.597Z,1628970254.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:14.597Z,1628970254.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:14.597Z,1628970254.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:14.598Z,1628970254.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:15.001Z,1628970255.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,0118B,186,80,80,61,FF
2021-08-14T19:44:15.001Z,1628970255.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:15.001Z,1628970255.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:15.003Z,1628970255.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:15.418Z,1628970255.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:16.213Z,1628970256.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,011C2,187,80,80,63,FF
2021-08-14T19:44:16.213Z,1628970256.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:16.217Z,1628970256.217 [Micromodem](INFO): Nmea in: $SNTTA,0.159078,0.423825,,,194416.98*58

2021-08-14T19:44:16.673Z,1628970256.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.259995 m, bearing: 149.518196 deg, deltaT: 4.774889 s, approachRate: 0.691119 m/s, LOS rate: 0.405610 deg/s, posRepo size: 4
2021-08-14T19:44:19.079Z,1628970259.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:19.441Z,1628970259.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:19.441Z,1628970259.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:19.441Z,1628970259.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:19.442Z,1628970259.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:19.849Z,1628970259.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,011C2,187,80,80,63,FF
2021-08-14T19:44:19.849Z,1628970259.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:19.849Z,1628970259.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:19.851Z,1628970259.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:20.257Z,1628970260.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:21.097Z,1628970261.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,011FA,186,80,80,6A,FF
2021-08-14T19:44:21.097Z,1628970261.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:21.100Z,1628970261.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194421.83*5E

2021-08-14T19:44:21.508Z,1628970261.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.619995 m, bearing: 149.392520 deg, deltaT: 4.944843 s, approachRate: 0.679496 m/s, LOS rate: -0.025415 deg/s, posRepo size: 4
2021-08-14T19:44:23.937Z,1628970263.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:24.301Z,1628970264.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:24.301Z,1628970264.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:24.302Z,1628970264.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:24.302Z,1628970264.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:24.701Z,1628970264.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,011FA,186,80,80,6A,FF
2021-08-14T19:44:24.701Z,1628970264.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:24.702Z,1628970264.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:24.708Z,1628970264.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:25.105Z,1628970265.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:25.937Z,1628970265.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,01234,186,80,80,5F,FF
2021-08-14T19:44:25.937Z,1628970265.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:25.942Z,1628970265.942 [Micromodem](INFO): Nmea in: $SNTTA,0.163136,,,,194426.69*43

2021-08-14T19:44:26.351Z,1628970266.351 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T19:44:26.386Z,1628970266.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.099991 m, bearing: 149.366579 deg, deltaT: 4.926104 s, approachRate: 0.706440 m/s, LOS rate: -0.005266 deg/s, posRepo size: 4
2021-08-14T19:44:28.797Z,1628970268.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:29.141Z,1628970269.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:29.141Z,1628970269.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:29.141Z,1628970269.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:29.142Z,1628970269.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:29.545Z,1628970269.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,01234,186,80,80,5F,FF
2021-08-14T19:44:29.545Z,1628970269.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:29.545Z,1628970269.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:29.547Z,1628970269.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:30.045Z,1628970270.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:30.773Z,1628970270.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0126F,186,80,80,5A,FF
2021-08-14T19:44:30.774Z,1628970270.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:31.192Z,1628970271.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.639984 m, bearing: 148.424601 deg, deltaT: 4.729273 s, approachRate: 0.748528 m/s, LOS rate: -0.199180 deg/s, posRepo size: 4
2021-08-14T19:44:33.603Z,1628970273.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:34.041Z,1628970274.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:34.041Z,1628970274.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:34.041Z,1628970274.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:34.042Z,1628970274.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:34.398Z,1628970274.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0126F,186,80,80,5A,FF
2021-08-14T19:44:34.398Z,1628970274.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:34.398Z,1628970274.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:34.400Z,1628970274.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:34.801Z,1628970274.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:35.629Z,1628970275.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,012A6,187,80,80,4C,FF
2021-08-14T19:44:35.629Z,1628970275.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:35.632Z,1628970275.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194436.38*58

2021-08-14T19:44:36.154Z,1628970276.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.940002 m, bearing: 149.294726 deg, deltaT: 4.814452 s, approachRate: 0.685440 m/s, LOS rate: 0.180732 deg/s, posRepo size: 4
2021-08-14T19:44:38.460Z,1628970278.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:44:38.837Z,1628970278.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:44:38.837Z,1628970278.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:44:38.838Z,1628970278.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:44:38.839Z,1628970278.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:44:39.241Z,1628970279.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,012A6,187,80,80,4C,FF
2021-08-14T19:44:39.241Z,1628970279.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:44:39.241Z,1628970279.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:44:39.243Z,1628970279.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:44:39.648Z,1628970279.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:44:40.489Z,1628970280.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,012DE,186,80,80,49,FF
2021-08-14T19:44:40.489Z,1628970280.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:44:40.492Z,1628970280.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194441.22*53

2021-08-14T19:44:40.913Z,1628970280.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.300003 m, bearing: 145.768750 deg, deltaT: 4.860173 s, approachRate: 0.691334 m/s, LOS rate: -0.725484 deg/s, posRepo size: 4
2021-08-14T19:44:42.933Z,1628970282.933 [lineCaptureDepth](INFO): Timed out from 2021-08-14T17:44:42.5Z
2021-08-14T19:44:42.933Z,1628970282.933 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-14T19:44:42.933Z,1628970282.933 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science:B] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science:C] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-14T19:44:42.934Z,1628970282.934 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:TrackAC.] Stopped
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T19:44:42.935Z,1628970282.935 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T19:44:42.940Z,1628970282.940 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T19:44:42.941Z,1628970282.941 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T19:44:42.942Z,1628970282.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:Lap] Stopped
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T19:44:42.943Z,1628970282.943 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T19:44:42.948Z,1628970282.948 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T19:44:43.168Z,1628970283.168 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T19:44:43.273Z,1628970283.273 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T19:44:43.273Z,1628970283.273 [DefaultWithUndock] Running Loop=1
2021-08-14T19:44:43.273Z,1628970283.273 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T19:44:43.274Z,1628970283.274 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T19:44:43.274Z,1628970283.274 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T19:45:13.566Z,1628970313.566 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T19:45:13.566Z,1628970313.566 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T19:45:13.566Z,1628970313.566 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T19:45:13.566Z,1628970313.566 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T19:45:13.566Z,1628970313.566 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T19:45:13.567Z,1628970313.567 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T19:45:13.567Z,1628970313.567 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T19:45:13.567Z,1628970313.567 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T19:45:13.567Z,1628970313.567 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T19:45:13.567Z,1628970313.567 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:45:14.371Z,1628970314.371 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:45:16.124Z,1628970316.124 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:16.425Z,1628970316.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:45:16.425Z,1628970316.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:45:16.425Z,1628970316.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:45:16.426Z,1628970316.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:45:16.838Z,1628970316.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,012DE,186,80,80,49,FF
2021-08-14T19:45:16.838Z,1628970316.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:45:16.838Z,1628970316.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:45:16.845Z,1628970316.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:45:16.951Z,1628970316.951 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T19:45:17.229Z,1628970317.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:45:17.260Z,1628970317.260 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T19:45:17.662Z,1628970317.662 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-14T19:45:18.063Z,1628970318.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194518.82*54

2021-08-14T19:45:18.125Z,1628970318.125 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T19:45:18.873Z,1628970318.873 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:20.462Z,1628970320.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,49,FF
2021-08-14T19:45:20.462Z,1628970320.462 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,49,FF
2021-08-14T19:45:20.462Z,1628970320.462 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:45:21.681Z,1628970321.681 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:22.077Z,1628970322.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:45:22.077Z,1628970322.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:45:22.077Z,1628970322.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:45:22.078Z,1628970322.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:45:22.481Z,1628970322.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,49,FF
2021-08-14T19:45:22.481Z,1628970322.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:45:22.482Z,1628970322.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:45:22.483Z,1628970322.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:45:22.893Z,1628970322.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:45:23.683Z,1628970323.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,013D2,189,80,80,3C,FF
2021-08-14T19:45:23.684Z,1628970323.684 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:45:23.692Z,1628970323.692 [Micromodem](INFO): Nmea in: $SNTTA,0.477235,,,,194524.49*42

2021-08-14T19:45:26.541Z,1628970326.541 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:26.917Z,1628970326.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:45:26.917Z,1628970326.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:45:26.917Z,1628970326.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:45:26.918Z,1628970326.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:45:27.321Z,1628970327.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,013D2,189,80,80,3C,FF
2021-08-14T19:45:27.321Z,1628970327.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:45:27.322Z,1628970327.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:45:27.323Z,1628970327.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:45:27.749Z,1628970327.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:45:28.138Z,1628970328.138 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T19:45:28.549Z,1628970328.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,013DA,185,80,80,5C,FF
2021-08-14T19:45:28.550Z,1628970328.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:45:28.553Z,1628970328.553 [Micromodem](INFO): Nmea in: $SNTTA,0.179564,,,,194529.30*49

2021-08-14T19:45:31.094Z,1628970331.094 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:31.361Z,1628970331.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:45:31.361Z,1628970331.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:45:31.361Z,1628970331.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:45:31.362Z,1628970331.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:45:31.781Z,1628970331.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,013DA,185,80,80,5C,FF
2021-08-14T19:45:31.781Z,1628970331.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:45:31.782Z,1628970331.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:45:31.783Z,1628970331.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:45:32.181Z,1628970332.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:45:32.994Z,1628970332.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194533.76*56

2021-08-14T19:45:33.817Z,1628970333.817 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:35.409Z,1628970335.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,185,80,80,5C,FF
2021-08-14T19:45:35.410Z,1628970335.410 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,185,80,80,5C,FF
2021-08-14T19:45:35.410Z,1628970335.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:45:36.626Z,1628970336.626 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:37.025Z,1628970337.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:45:37.025Z,1628970337.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:45:37.026Z,1628970337.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:45:37.027Z,1628970337.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:45:37.421Z,1628970337.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,185,80,80,5C,FF
2021-08-14T19:45:37.421Z,1628970337.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:45:37.421Z,1628970337.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:45:37.423Z,1628970337.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:45:37.832Z,1628970337.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:45:38.265Z,1628970338.265 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 267.42 m. Transitioning DDM to standby.
2021-08-14T19:45:38.647Z,1628970338.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194539.40*59

2021-08-14T19:45:39.457Z,1628970339.457 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T19:45:40.710Z,1628970340.710 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T19:45:41.057Z,1628970341.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,185,80,80,5C,FF
2021-08-14T19:45:41.057Z,1628970341.057 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,185,80,80,5C,FF
2021-08-14T19:45:41.058Z,1628970341.058 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:45:41.125Z,1628970341.125 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T19:45:41.125Z,1628970341.125 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T19:45:41.126Z,1628970341.126 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T19:45:41.126Z,1628970341.126 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T19:45:41.126Z,1628970341.126 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T19:45:41.126Z,1628970341.126 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T19:45:41.126Z,1628970341.126 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T19:45:41.126Z,1628970341.126 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T19:45:41.127Z,1628970341.127 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T19:45:41.128Z,1628970341.128 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T19:45:41.128Z,1628970341.128 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T19:45:41.129Z,1628970341.129 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T19:45:41.129Z,1628970341.129 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T19:45:42.100Z,1628970342.100 [Radio_Surface](INFO): Powering up
2021-08-14T19:45:47.656Z,1628970347.656 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-14T19:46:12.219Z,1628970372.219 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T19:46:12.219Z,1628970372.219 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T19:46:12.219Z,1628970372.219 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T19:46:12.219Z,1628970372.219 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T19:46:12.220Z,1628970372.220 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T19:46:12.220Z,1628970372.220 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T19:46:12.220Z,1628970372.220 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T19:46:17.780Z,1628970377.780 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T19:46:27.094Z,1628970387.094 [NAL9602](INFO): SBD MO Status=0, MOMSN=23937, MT Status=0, MTMSN=0
2021-08-14T19:46:27.094Z,1628970387.094 [NAL9602](INFO): No messages in MT queue
2021-08-14T19:46:28.298Z,1628970388.298 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194629.00,A,4133.06389,N,07042.29838,W,0.369,138.30,140821,,,A*7E
2021-08-14T19:46:28.300Z,1628970388.300 [NAL9602](INFO): GPS fix at 20210814T194629: (41.551065, -70.704973)
2021-08-14T19:46:28.379Z,1628970388.379 [UniversalFixResidualReporter](INFO): Fix residual: 15.9 %DT, over the last 746.1 m. Residual distance 118.4 m at bearing -135.8 degrees. Fix at (41.5511, -70.7050) with 332.7 m made good.
2021-08-14T19:46:28.384Z,1628970388.384 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T19:46:28.384Z,1628970388.384 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T19:46:45.228Z,1628970405.228 [NAL9602](INFO): SBD MO Status=1, MOMSN=23938, MT Status=0, MTMSN=0
2021-08-14T19:46:45.276Z,1628970405.276 [NAL9602](INFO): Sent 97 bytes from file Logs/20210814T171856/Courier0036.lzma
2021-08-14T19:46:45.276Z,1628970405.276 [NAL9602](INFO): Packets left to send: 0
2021-08-14T19:46:46.085Z,1628970406.085 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:46:52.924Z,1628970412.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T19:46:57.298Z,1628970417.298 [NAL9602](INFO): SBD MO Status=1, MOMSN=23939, MT Status=0, MTMSN=0
2021-08-14T19:46:57.348Z,1628970417.348 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0025.lzma
2021-08-14T19:46:57.348Z,1628970417.348 [NAL9602](INFO): Packets left to send: 4
2021-08-14T19:47:06.532Z,1628970426.532 [NAL9602](INFO): SBD MO Status=1, MOMSN=23940, MT Status=0, MTMSN=0
2021-08-14T19:47:06.588Z,1628970426.588 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0025.lzma
2021-08-14T19:47:06.588Z,1628970426.588 [NAL9602](INFO): Packets left to send: 3
2021-08-14T19:47:15.853Z,1628970435.853 [NAL9602](INFO): SBD MO Status=1, MOMSN=23941, MT Status=0, MTMSN=0
2021-08-14T19:47:15.916Z,1628970435.916 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0025.lzma
2021-08-14T19:47:15.916Z,1628970435.916 [NAL9602](INFO): Packets left to send: 2
2021-08-14T19:47:23.475Z,1628970443.475 [NAL9602](INFO): SBD MO Status=1, MOMSN=23942, MT Status=0, MTMSN=0
2021-08-14T19:47:23.524Z,1628970443.524 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0025.lzma
2021-08-14T19:47:23.525Z,1628970443.524 [NAL9602](INFO): Packets left to send: 1
2021-08-14T19:47:28.080Z,1628970448.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T19:47:31.483Z,1628970451.483 [NAL9602](INFO): SBD MO Status=1, MOMSN=23943, MT Status=0, MTMSN=0
2021-08-14T19:47:31.532Z,1628970451.532 [NAL9602](INFO): Sent 125 bytes from file Logs/20210814T171856/Express0025.lzma
2021-08-14T19:47:31.532Z,1628970451.532 [NAL9602](INFO): Packets left to send: 0
2021-08-14T19:47:42.464Z,1628970462.464 [NAL9602](INFO): SBD MO Status=1, MOMSN=23944, MT Status=0, MTMSN=0
2021-08-14T19:47:42.514Z,1628970462.514 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0028.lzma
2021-08-14T19:47:42.515Z,1628970462.515 [NAL9602](INFO): Packets left to send: 2
2021-08-14T19:47:51.637Z,1628970471.637 [NAL9602](INFO): SBD MO Status=1, MOMSN=23945, MT Status=0, MTMSN=0
2021-08-14T19:47:51.688Z,1628970471.688 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0028.lzma
2021-08-14T19:47:51.689Z,1628970471.689 [NAL9602](INFO): Packets left to send: 1
2021-08-14T19:47:58.139Z,1628970478.139 [NAL9602](INFO): SBD MO Status=1, MOMSN=23946, MT Status=0, MTMSN=0
2021-08-14T19:47:58.189Z,1628970478.189 [NAL9602](INFO): Sent 97 bytes from file Logs/20210814T171856/Express0028.lzma
2021-08-14T19:47:58.189Z,1628970478.189 [NAL9602](INFO): Packets left to send: 0
2021-08-14T19:48:03.220Z,1628970483.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T19:48:05.408Z,1628970485.408 [NAL9602](INFO): SBD MO Status=1, MOMSN=23947, MT Status=0, MTMSN=0
2021-08-14T19:48:05.461Z,1628970485.461 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0031.lzma
2021-08-14T19:48:05.462Z,1628970485.462 [NAL9602](INFO): Packets left to send: 2
2021-08-14T19:48:16.580Z,1628970496.580 [NAL9602](INFO): SBD MO Status=1, MOMSN=23948, MT Status=0, MTMSN=0
2021-08-14T19:48:16.632Z,1628970496.632 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0031.lzma
2021-08-14T19:48:16.632Z,1628970496.632 [NAL9602](INFO): Packets left to send: 1
2021-08-14T19:48:25.407Z,1628970505.407 [NAL9602](INFO): SBD MO Status=1, MOMSN=23949, MT Status=0, MTMSN=0
2021-08-14T19:48:25.457Z,1628970505.457 [NAL9602](INFO): Sent 116 bytes from file Logs/20210814T171856/Express0031.lzma
2021-08-14T19:48:25.458Z,1628970505.458 [NAL9602](INFO): Packets left to send: 0
2021-08-14T19:48:30.193Z,1628970510.193 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T19:48:38.360Z,1628970518.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T19:48:43.492Z,1628970523.492 [NAL9602](INFO): SBD MO Status=1, MOMSN=23950, MT Status=0, MTMSN=0
2021-08-14T19:48:43.548Z,1628970523.548 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0034.lzma
2021-08-14T19:48:43.548Z,1628970523.548 [NAL9602](INFO): Packets left to send: 2
2021-08-14T19:48:52.013Z,1628970532.013 [NAL9602](INFO): SBD MO Status=1, MOMSN=23951, MT Status=0, MTMSN=0
2021-08-14T19:48:52.064Z,1628970532.064 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0034.lzma
2021-08-14T19:48:52.064Z,1628970532.064 [NAL9602](INFO): Packets left to send: 1
2021-08-14T19:48:59.995Z,1628970539.995 [NAL9602](INFO): SBD MO Status=1, MOMSN=23952, MT Status=0, MTMSN=0
2021-08-14T19:49:00.056Z,1628970540.056 [NAL9602](INFO): Sent 61 bytes from file Logs/20210814T171856/Express0034.lzma
2021-08-14T19:49:00.056Z,1628970540.056 [NAL9602](INFO): Packets left to send: 0
2021-08-14T19:49:07.490Z,1628970547.490 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.010336
2021-08-14T19:49:11.495Z,1628970551.495 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T171856/Courier0039.lzma
2021-08-14T19:49:12.498Z,1628970552.498 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0039.lzma.bak
2021-08-14T19:49:12.498Z,1628970552.498 [DataOverHttps](INFO): SBD MOMSN=438675
2021-08-14T19:49:13.252Z,1628970553.252 [NAL9602](INFO): SBD MO Status=1, MOMSN=23953, MT Status=0, MTMSN=0
2021-08-14T19:49:13.308Z,1628970553.308 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0037.lzma
2021-08-14T19:49:13.308Z,1628970553.308 [NAL9602](INFO): Packets left to send: 1
2021-08-14T19:49:21.547Z,1628970561.547 [DataOverHttps](INFO): Sending 363 bytes from file Logs/20210814T171856/Express0037.lzma
2021-08-14T19:49:22.549Z,1628970562.549 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0037.lzma.bak
2021-08-14T19:49:22.549Z,1628970562.549 [DataOverHttps](INFO): SBD MOMSN=438677
2021-08-14T19:49:31.584Z,1628970571.584 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210814T171856/Express0040.lzma
2021-08-14T19:49:32.586Z,1628970572.586 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0040.lzma.bak
2021-08-14T19:49:32.586Z,1628970572.586 [DataOverHttps](INFO): SBD MOMSN=438694
2021-08-14T19:49:34.310Z,1628970574.310 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T19:49:34.311Z,1628970574.311 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T19:49:34.311Z,1628970574.311 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T19:49:44.006Z,1628970584.006 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T19:51:08.803Z,1628970668.803 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T19:51:08.808Z,1628970668.808 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814195109.857781,06,164,22,0116,0150,14,00,00,00,01,-1,-01,-01,1,3,5,0,150,36.9,-0.13,-100,3.13,-01,-1.80,44,14500,4000*7C

2021-08-14T19:51:12.839Z,1628970672.839 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T19:51:12.844Z,1628970672.844 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814195113.842411,06,2429,27,0123,0150,194,02,02,01,02,-1,-01,-01,1,3,8,0,150,13.8,-0.01,-100,3.01,-01,-2.89,61,14500,4000*79

2021-08-14T19:51:19.727Z,1628970679.727 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T19:51:19.727Z,1628970679.727 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T19:51:19.730Z,1628970679.730 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T19:51:20.122Z,1628970680.122 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814195119.857731,06,495,20,0095,0150,89,01,01,01,01,-1,-01,-01,1,3,6,0,150,63.2,-0.14,-100,3.14,-01,-3.95,-6,14500,4000*65

2021-08-14T19:51:46.777Z,1628970706.777 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T19:51:46.783Z,1628970706.783 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814195147.846236,06,1562,25,0112,0150,134,01,01,01,01,-1,-01,-01,1,3,4,0,150,26.1,-6.81,-100,9.81,-01,-2.94,52,14500,4000*78

2021-08-14T19:52:06.204Z,1628970726.204 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:52:11.474Z,1628970731.474 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T19:52:36.488Z,1628970756.488 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:53:01.531Z,1628970781.531 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:53:09.477Z,1628970789.477 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T195309
2021-08-14T19:53:13.492Z,1628970793.492 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2rokd 1 2
2021-08-14T19:53:13.526Z,1628970793.526 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2rokd 1 2.000000
2021-08-14T19:53:13.526Z,1628970793.526 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2rokd
2021-08-14T19:53:13.527Z,1628970793.527 [CommandLine](IMPORTANT): Scheduled #12 (#1 of 2 with id='2rokd'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" ASAP
2021-08-14T19:53:14.494Z,1628970794.494 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T195315
2021-08-14T19:53:18.512Z,1628970798.512 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rokd 2 2
2021-08-14T19:53:18.573Z,1628970798.573 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2rokd 2 2.000000
2021-08-14T19:53:18.574Z,1628970798.574 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2rokd
2021-08-14T19:53:18.575Z,1628970798.575 [CommandLine](IMPORTANT): Scheduled #13 (#2 of 2 with id='2rokd'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-14T19:53:18.825Z,1628970798.825 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T19:53:18.826Z,1628970798.826 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T19:53:18.998Z,1628970798.998 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-14T19:53:19.001Z,1628970799.001 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-14T19:53:19.003Z,1628970799.003 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-14T19:53:19.005Z,1628970799.005 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-14T19:53:19.008Z,1628970799.008 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-14T19:53:19.011Z,1628970799.011 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-14T19:53:19.013Z,1628970799.013 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-14T19:53:19.019Z,1628970799.019 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-14T19:53:19.022Z,1628970799.022 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-14T19:53:19.042Z,1628970799.042 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-14T19:53:19.059Z,1628970799.059 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-14T19:53:19.074Z,1628970799.074 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-14T19:53:19.089Z,1628970799.089 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-14T19:53:19.091Z,1628970799.091 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-14T19:53:19.114Z,1628970799.114 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-14T19:53:19.115Z,1628970799.115 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-14T19:53:19.770Z,1628970799.770 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-14T19:53:19.776Z,1628970799.776 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-14T19:53:19.778Z,1628970799.778 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-14T19:53:19.788Z,1628970799.788 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-14T19:53:19.791Z,1628970799.791 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-14T19:53:19.808Z,1628970799.808 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-14T19:53:19.818Z,1628970799.818 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-14T19:53:19.824Z,1628970799.824 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-14T19:53:19.827Z,1628970799.827 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-14T19:53:19.844Z,1628970799.844 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-14T19:53:19.846Z,1628970799.846 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-14T19:53:19.849Z,1628970799.849 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-14T19:53:19.851Z,1628970799.851 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-14T19:53:19.853Z,1628970799.853 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-14T19:53:19.856Z,1628970799.856 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-14T19:53:19.863Z,1628970799.863 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-14T19:53:19.902Z,1628970799.902 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-14T19:53:19.913Z,1628970799.913 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-14T19:53:19.926Z,1628970799.926 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-14T19:53:19.938Z,1628970799.938 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-14T19:53:19.966Z,1628970799.966 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-14T19:53:19.990Z,1628970799.990 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-14T19:53:20.002Z,1628970800.002 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-14T19:53:20.016Z,1628970800.016 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-14T19:53:20.019Z,1628970800.019 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-14T19:53:20.030Z,1628970800.030 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-14T19:53:20.044Z,1628970800.044 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-14T19:53:20.047Z,1628970800.047 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-14T19:53:20.058Z,1628970800.058 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-14T19:53:20.068Z,1628970800.068 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-14T19:53:20.071Z,1628970800.071 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-14T19:53:20.102Z,1628970800.102 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-14T19:53:20.116Z,1628970800.116 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-14T19:53:20.119Z,1628970800.119 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-14T19:53:20.134Z,1628970800.134 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-14T19:53:20.153Z,1628970800.153 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-14T19:53:20.155Z,1628970800.155 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-14T19:53:20.170Z,1628970800.170 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-14T19:53:20.185Z,1628970800.185 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-14T19:53:20.187Z,1628970800.187 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-14T19:53:20.206Z,1628970800.206 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-14T19:53:20.221Z,1628970800.221 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-14T19:53:20.223Z,1628970800.223 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-14T19:53:20.238Z,1628970800.238 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-14T19:53:20.249Z,1628970800.249 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-14T19:53:20.251Z,1628970800.251 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-14T19:53:20.278Z,1628970800.278 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-14T19:53:20.289Z,1628970800.289 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-14T19:53:20.291Z,1628970800.291 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-14T19:53:20.334Z,1628970800.334 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-14T19:53:20.341Z,1628970800.341 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-14T19:53:20.343Z,1628970800.343 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-14T19:53:20.359Z,1628970800.359 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-14T19:53:20.369Z,1628970800.369 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-14T19:53:20.384Z,1628970800.384 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-14T19:53:20.387Z,1628970800.387 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-14T19:53:20.393Z,1628970800.393 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-14T19:53:20.409Z,1628970800.409 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-14T19:53:20.429Z,1628970800.429 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-14T19:53:20.459Z,1628970800.459 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-14T19:53:20.478Z,1628970800.478 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-14T19:53:20.513Z,1628970800.513 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-14T19:53:20.532Z,1628970800.532 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-14T19:53:20.549Z,1628970800.549 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-14T19:53:20.625Z,1628970800.625 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T19:53:20.698Z,1628970800.698 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T19:53:20.766Z,1628970800.766 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T19:53:20.941Z,1628970800.941 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T19:53:20.990Z,1628970800.990 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T19:53:21.034Z,1628970801.034 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T19:53:21.067Z,1628970801.067 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-14T19:53:21.125Z,1628970801.125 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-14T19:53:21.157Z,1628970801.157 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T19:53:21.220Z,1628970801.220 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T19:53:21.223Z,1628970801.223 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T19:53:21.229Z,1628970801.229 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T19:53:21.231Z,1628970801.231 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T19:53:21.253Z,1628970801.253 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T19:53:21.276Z,1628970801.276 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T19:53:21.354Z,1628970801.354 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-14T19:53:21.560Z,1628970801.560 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-14T19:53:21.563Z,1628970801.563 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-14T19:53:21.566Z,1628970801.566 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-14T19:53:21.584Z,1628970801.584 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-14T19:53:21.587Z,1628970801.587 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-14T19:53:21.606Z,1628970801.606 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-14T19:53:21.612Z,1628970801.612 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-14T19:53:21.630Z,1628970801.630 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-14T19:53:21.678Z,1628970801.678 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-14T19:53:21.774Z,1628970801.774 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-14T19:53:21.784Z,1628970801.784 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-14T19:53:21.809Z,1628970801.809 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-14T19:53:21.875Z,1628970801.875 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-14T19:53:22.449Z,1628970802.449 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-14T19:53:22.458Z,1628970802.458 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-14T19:53:22.470Z,1628970802.470 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-14T19:53:22.472Z,1628970802.472 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-14T19:53:22.475Z,1628970802.475 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-14T19:53:22.550Z,1628970802.550 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-14T19:53:22.573Z,1628970802.573 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-14T19:53:22.575Z,1628970802.575 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-14T19:53:22.590Z,1628970802.590 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-14T19:53:22.597Z,1628970802.597 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-14T19:53:22.599Z,1628970802.599 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-14T19:53:22.638Z,1628970802.638 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-14T19:53:22.648Z,1628970802.648 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-14T19:53:22.651Z,1628970802.651 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-14T19:53:22.672Z,1628970802.672 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-14T19:53:22.675Z,1628970802.675 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-14T19:53:22.685Z,1628970802.685 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-14T19:53:22.708Z,1628970802.708 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-14T19:53:22.711Z,1628970802.711 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-14T19:53:22.717Z,1628970802.717 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-14T19:53:22.732Z,1628970802.732 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-14T19:53:22.735Z,1628970802.735 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-14T19:53:22.745Z,1628970802.745 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-14T19:53:22.760Z,1628970802.760 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-14T19:53:22.763Z,1628970802.763 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-14T19:53:22.765Z,1628970802.765 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-14T19:53:22.786Z,1628970802.786 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-14T19:53:22.834Z,1628970802.834 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-14T19:53:22.841Z,1628970802.841 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-14T19:53:22.843Z,1628970802.843 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-14T19:53:22.855Z,1628970802.855 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-14T19:53:22.885Z,1628970802.885 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-14T19:53:22.972Z,1628970802.972 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-14T19:53:23.029Z,1628970803.029 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-14T19:53:23.045Z,1628970803.045 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-14T19:53:23.070Z,1628970803.070 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-14T19:53:23.070Z,1628970803.070 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:53:23.142Z,1628970803.142 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-14T19:53:23.153Z,1628970803.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-14T19:53:23.170Z,1628970803.170 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-14T19:53:23.202Z,1628970803.202 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-14T19:53:23.224Z,1628970803.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-14T19:53:23.251Z,1628970803.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-14T19:53:23.275Z,1628970803.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-14T19:53:23.296Z,1628970803.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T19:53:23.296Z,1628970803.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:53:23.308Z,1628970803.308 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-14T19:53:23.315Z,1628970803.315 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-14T19:53:23.521Z,1628970803.521 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-14T19:53:23.523Z,1628970803.523 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-14T19:53:23.526Z,1628970803.526 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-14T19:53:23.537Z,1628970803.537 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-14T19:53:23.543Z,1628970803.543 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-14T19:53:23.633Z,1628970803.633 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-14T19:53:23.633Z,1628970803.633 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-14T19:53:23.642Z,1628970803.642 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-14T19:53:23.642Z,1628970803.642 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:53:23.729Z,1628970803.729 [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>


2021-08-14T19:53:23.730Z,1628970803.730 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-14T19:53:36.819Z,1628970816.819 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T19:53:36.836Z,1628970816.836 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814195337.847351,06,891,23,0103,0150,208,02,02,01,02,-1,-01,-01,1,3,1,0,150,9.4,0.83,-100,2.17,-01,1.59,64,14500,4000*7F

2021-08-14T19:53:43.681Z,1628970823.681 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T19:53:43.711Z,1628970823.711 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814195343.854047,06,321,25,0103,0150,134,01,01,00,01,6,-01,-01,2,3,1,0,150,1.9,-8.57,-2,11.57,-01,-1.51,63,14500,4000*65

2021-08-14T19:53:44.569Z,1628970824.569 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 60.000000 minute
2021-08-14T19:53:44.569Z,1628970824.569 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-14T19:53:44.570Z,1628970824.570 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-14T19:53:44.571Z,1628970824.571 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-14T19:53:50.835Z,1628970830.835 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-14T19:53:50.836Z,1628970830.836 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-14T19:53:50.836Z,1628970830.836 [CommandLine](IMPORTANT): got command run
2021-08-14T19:53:50.838Z,1628970830.838 [CommandLine](IMPORTANT): Running 
2021-08-14T19:53:50.952Z,1628970830.952 [DefaultWithUndock] Stopped
2021-08-14T19:53:50.952Z,1628970830.952 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-14T19:53:50.952Z,1628970830.952 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-14T19:53:50.952Z,1628970830.952 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-14T19:53:50.952Z,1628970830.952 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-14T19:53:50.953Z,1628970830.953 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-14T19:53:50.953Z,1628970830.953 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-14T19:53:50.953Z,1628970830.953 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T19:53:50.953Z,1628970830.953 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-14T19:53:50.953Z,1628970830.953 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T19:53:50.953Z,1628970830.953 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-14T19:53:50.956Z,1628970830.956 [lineCaptureDepth] Running Loop=1
2021-08-14T19:53:50.956Z,1628970830.956 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-14T19:53:50.956Z,1628970830.956 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T19:53:50.956Z,1628970830.956 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-14T19:53:50.956Z,1628970830.956 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T19:53:50.957Z,1628970830.957 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T19:53:50.959Z,1628970830.959 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-14T19:53:50.959Z,1628970830.959 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T19:53:50.959Z,1628970830.959 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T19:53:50.959Z,1628970830.959 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T19:53:50.960Z,1628970830.960 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-14T19:53:50.960Z,1628970830.960 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T19:53:50.960Z,1628970830.960 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T19:53:50.960Z,1628970830.960 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T19:53:50.961Z,1628970830.961 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-14T19:53:50.962Z,1628970830.962 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T19:53:50.962Z,1628970830.962 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T19:53:50.962Z,1628970830.962 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T19:53:50.963Z,1628970830.963 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-14T19:53:50.963Z,1628970830.963 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T19:53:50.963Z,1628970830.963 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T19:53:50.963Z,1628970830.963 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T19:53:50.968Z,1628970830.968 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-14T19:53:50.968Z,1628970830.968 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T19:53:50.968Z,1628970830.968 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T19:53:50.969Z,1628970830.969 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T19:53:50.970Z,1628970830.970 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-14T19:53:50.970Z,1628970830.970 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T19:53:50.970Z,1628970830.970 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-14T19:53:50.970Z,1628970830.970 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-14T19:53:50.971Z,1628970830.971 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-14T19:53:50.971Z,1628970830.971 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T19:53:50.976Z,1628970830.976 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-14T19:53:50.976Z,1628970830.976 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-14T19:53:50.977Z,1628970830.977 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-14T19:53:50.977Z,1628970830.977 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T19:53:50.977Z,1628970830.977 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T19:53:50.977Z,1628970830.977 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-14T19:53:50.977Z,1628970830.977 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T19:53:50.977Z,1628970830.977 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T19:53:50.978Z,1628970830.978 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-14T19:53:50.979Z,1628970830.979 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:53:50.984Z,1628970830.984 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-14T19:53:50.984Z,1628970830.984 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T19:53:50.984Z,1628970830.984 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:53:50.984Z,1628970830.984 [lineCaptureDepth:C] Running Loop=1
2021-08-14T19:53:50.986Z,1628970830.986 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T19:53:50.986Z,1628970830.986 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:53:50.986Z,1628970830.986 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-14T19:53:50.986Z,1628970830.986 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-14T19:53:50.986Z,1628970830.986 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-14T19:53:50.986Z,1628970830.986 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-14T19:53:50.987Z,1628970830.987 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T19:53:50.987Z,1628970830.987 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T19:53:50.987Z,1628970830.987 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T19:53:50.987Z,1628970830.987 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:53:50.987Z,1628970830.987 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T19:53:50.987Z,1628970830.987 [lineCaptureDepth:C] Stopped
2021-08-14T19:53:50.990Z,1628970830.990 [lineCaptureDepth:D] Running Loop=1
2021-08-14T19:53:50.991Z,1628970830.991 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-14T19:53:50.991Z,1628970830.991 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T19:53:50.991Z,1628970830.991 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T19:53:50.991Z,1628970830.991 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T19:53:50.000Z,1628970831.000 [lineCaptureDepth:Science] Running Loop=1
2021-08-14T19:53:51.001Z,1628970831.001 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-14T19:53:51.001Z,1628970831.001 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-14T19:53:51.001Z,1628970831.001 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T19:53:51.002Z,1628970831.002 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-14T19:53:51.003Z,1628970831.003 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T19:53:51.008Z,1628970831.008 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-14T19:53:51.008Z,1628970831.008 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-14T19:53:51.008Z,1628970831.008 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-14T19:53:51.008Z,1628970831.008 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-14T19:53:51.008Z,1628970831.008 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-14T19:53:51.008Z,1628970831.008 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-14T19:53:51.009Z,1628970831.009 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-14T19:53:51.009Z,1628970831.009 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-14T19:53:51.009Z,1628970831.009 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-14T19:53:51.010Z,1628970831.010 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-14T19:53:51.010Z,1628970831.010 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-14T19:53:51.011Z,1628970831.011 [lineCaptureDepth:Science:F] Stopped
2021-08-14T19:53:51.011Z,1628970831.011 [lineCaptureDepth:Science:E] Stopped
2021-08-14T19:53:51.011Z,1628970831.011 [lineCaptureDepth:Science:D] Stopped
2021-08-14T19:53:51.011Z,1628970831.011 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-14T19:53:51.011Z,1628970831.011 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-14T19:53:51.016Z,1628970831.016 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-14T19:53:51.016Z,1628970831.016 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-14T19:53:51.017Z,1628970831.017 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-14T19:53:51.017Z,1628970831.017 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-14T19:53:51.017Z,1628970831.017 [lineCaptureDepth:Science:A] Stopped
2021-08-14T19:53:51.241Z,1628970831.241 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-14T19:53:51.378Z,1628970831.378 [lineCaptureDepth:D] Stopped
2021-08-14T19:53:51.378Z,1628970831.378 [lineCaptureDepth:E] Running Loop=1
2021-08-14T19:53:51.798Z,1628970831.798 [lineCaptureDepth:E] Stopped
2021-08-14T19:53:51.798Z,1628970831.798 [lineCaptureDepth:G] Running Loop=1
2021-08-14T19:53:52.183Z,1628970832.183 [lineCaptureDepth:G] Stopped
2021-08-14T19:53:52.183Z,1628970832.183 [lineCaptureDepth:H] Running Loop=1
2021-08-14T19:53:52.574Z,1628970832.574 [lineCaptureDepth:H] Stopped
2021-08-14T19:53:52.574Z,1628970832.574 [lineCaptureDepth:J] Running Loop=1
2021-08-14T19:53:53.005Z,1628970833.005 [lineCaptureDepth:J] Stopped
2021-08-14T19:53:53.006Z,1628970833.006 [lineCaptureDepth:M] Running Loop=1
2021-08-14T19:53:53.411Z,1628970833.411 [lineCaptureDepth:M] Stopped
2021-08-14T19:53:53.411Z,1628970833.411 [lineCaptureDepth:N] Running Loop=1
2021-08-14T19:53:53.781Z,1628970833.781 [lineCaptureDepth:N] Stopped
2021-08-14T19:53:53.781Z,1628970833.781 [lineCaptureDepth:O] Running Loop=1
2021-08-14T19:53:53.781Z,1628970833.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:53:54.169Z,1628970834.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:53:54.169Z,1628970834.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:53:54.169Z,1628970834.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:53:54.170Z,1628970834.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:53:54.254Z,1628970834.254 [lineCaptureDepth:O] Stopped
2021-08-14T19:53:54.255Z,1628970834.255 [lineCaptureDepth:Lap] Running Loop=1
2021-08-14T19:53:54.255Z,1628970834.255 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-14T19:53:54.255Z,1628970834.255 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-14T19:53:54.373Z,1628970834.373 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-14T19:53:54.589Z,1628970834.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,185,80,80,5C,FF
2021-08-14T19:53:54.589Z,1628970834.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:53:54.589Z,1628970834.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:53:54.591Z,1628970834.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:53:54.687Z,1628970834.687 [lineCaptureDepth:Lap:A] Stopped
2021-08-14T19:53:54.687Z,1628970834.687 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-14T19:53:54.687Z,1628970834.687 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-14T19:53:54.995Z,1628970834.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T19:53:55.029Z,1628970835.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:53:55.030Z,1628970835.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T19:53:55.031Z,1628970835.031 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:53:55.031Z,1628970835.031 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T19:53:55.031Z,1628970835.031 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-14T19:53:55.031Z,1628970835.031 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T19:53:55.031Z,1628970835.031 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:53:55.032Z,1628970835.032 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T19:53:55.032Z,1628970835.032 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T19:53:55.032Z,1628970835.032 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T19:53:55.033Z,1628970835.033 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T19:53:55.033Z,1628970835.033 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T19:53:55.033Z,1628970835.033 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-14T19:53:55.035Z,1628970835.035 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-14T19:53:55.073Z,1628970835.073 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-14T19:53:55.073Z,1628970835.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-14T19:53:55.073Z,1628970835.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-14T19:53:55.074Z,1628970835.074 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-14T19:53:55.074Z,1628970835.074 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-14T19:53:55.074Z,1628970835.074 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-14T19:53:55.476Z,1628970835.476 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-14T19:53:55.477Z,1628970835.477 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-14T19:53:55.805Z,1628970835.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0194A,189,80,80,99,FF
2021-08-14T19:53:55.806Z,1628970835.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:53:55.843Z,1628970835.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195356.58*5E

2021-08-14T19:53:55.867Z,1628970835.867 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-14T19:53:55.892Z,1628970835.892 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-14T19:53:56.265Z,1628970836.265 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-14T19:53:56.265Z,1628970836.265 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-14T19:53:56.635Z,1628970836.635 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-14T19:53:56.635Z,1628970836.635 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-14T19:53:56.635Z,1628970836.635 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T19:53:56.635Z,1628970836.635 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T19:53:56.636Z,1628970836.636 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:53:56.636Z,1628970836.636 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-14T19:53:56.636Z,1628970836.636 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:53:56.636Z,1628970836.636 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-14T19:53:56.636Z,1628970836.636 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-14T19:53:56.637Z,1628970836.637 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T19:53:56.637Z,1628970836.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:53:56.637Z,1628970836.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:53:56.637Z,1628970836.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T19:53:56.637Z,1628970836.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:53:56.637Z,1628970836.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:53:56.638Z,1628970836.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T19:53:56.639Z,1628970836.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:53:56.639Z,1628970836.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:53:56.639Z,1628970836.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T19:53:56.639Z,1628970836.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:53:56.639Z,1628970836.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:53:56.639Z,1628970836.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T19:53:57.047Z,1628970837.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T19:53:57.047Z,1628970837.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:53:57.047Z,1628970837.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T19:53:57.048Z,1628970837.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:53:57.048Z,1628970837.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T19:53:57.048Z,1628970837.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T19:53:57.048Z,1628970837.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T19:53:57.048Z,1628970837.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T19:53:57.049Z,1628970837.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T19:53:57.049Z,1628970837.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:53:57.049Z,1628970837.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T19:53:57.049Z,1628970837.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:53:57.049Z,1628970837.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T19:53:57.049Z,1628970837.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T19:53:57.050Z,1628970837.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T19:53:57.050Z,1628970837.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T19:53:57.050Z,1628970837.050 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-14T19:53:57.455Z,1628970837.455 [PowerOnly](INFO): Powering up loadControl
2021-08-14T19:53:58.728Z,1628970838.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:53:59.065Z,1628970839.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:53:59.065Z,1628970839.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:53:59.065Z,1628970839.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:53:59.066Z,1628970839.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:53:59.501Z,1628970839.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0194A,189,80,80,99,FF
2021-08-14T19:53:59.502Z,1628970839.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:53:59.502Z,1628970839.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:53:59.505Z,1628970839.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:53:59.904Z,1628970839.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:53:59.947Z,1628970839.947 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-14T19:54:00.340Z,1628970840.340 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T19:54:00.671Z,1628970840.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDC,000,01951,189,80,80,A3,FF
2021-08-14T19:54:00.672Z,1628970840.672 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:00.678Z,1628970840.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195401.49*5B

2021-08-14T19:54:03.554Z,1628970843.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:03.901Z,1628970843.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:03.901Z,1628970843.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:03.901Z,1628970843.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:03.902Z,1628970843.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:04.305Z,1628970844.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDC,000,01951,189,80,80,A3,FF
2021-08-14T19:54:04.306Z,1628970844.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:04.306Z,1628970844.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:04.312Z,1628970844.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:04.717Z,1628970844.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:05.537Z,1628970845.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,0195C,189,80,80,9C,FF
2021-08-14T19:54:05.538Z,1628970845.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:05.540Z,1628970845.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195406.30*52

2021-08-14T19:54:08.397Z,1628970848.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:08.753Z,1628970848.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:08.753Z,1628970848.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:08.753Z,1628970848.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:08.754Z,1628970848.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:09.161Z,1628970849.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,0195C,189,80,80,9C,FF
2021-08-14T19:54:09.161Z,1628970849.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:09.162Z,1628970849.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:09.163Z,1628970849.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:09.573Z,1628970849.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:10.405Z,1628970850.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEF,000,01965,188,80,80,99,FF
2021-08-14T19:54:10.405Z,1628970850.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:10.408Z,1628970850.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195411.15*53

2021-08-14T19:54:13.239Z,1628970853.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:13.601Z,1628970853.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:13.601Z,1628970853.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:13.601Z,1628970853.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:13.602Z,1628970853.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:14.033Z,1628970854.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEF,000,01965,188,80,80,99,FF
2021-08-14T19:54:14.033Z,1628970854.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:14.033Z,1628970854.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:14.035Z,1628970854.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:14.412Z,1628970854.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:15.237Z,1628970855.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B77,000,0196B,18A,80,80,8D,FF
2021-08-14T19:54:15.238Z,1628970855.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:15.256Z,1628970855.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195416.02*52

2021-08-14T19:54:18.081Z,1628970858.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:18.462Z,1628970858.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:18.462Z,1628970858.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:18.462Z,1628970858.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:18.463Z,1628970858.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:18.853Z,1628970858.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B77,000,0196B,18A,80,80,8D,FF
2021-08-14T19:54:18.853Z,1628970858.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:18.853Z,1628970858.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:18.855Z,1628970858.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:19.266Z,1628970859.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:20.092Z,1628970860.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD0,000,01975,189,80,80,83,FF
2021-08-14T19:54:20.093Z,1628970860.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:20.095Z,1628970860.095 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195420.84*59

2021-08-14T19:54:20.499Z,1628970860.499 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 353.52 m. Transitioning DDM to standby.
2021-08-14T19:54:22.939Z,1628970862.939 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-14T19:54:22.941Z,1628970862.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:23.297Z,1628970863.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:23.297Z,1628970863.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:23.297Z,1628970863.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:23.298Z,1628970863.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:23.367Z,1628970863.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T19:54:23.367Z,1628970863.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-14T19:54:23.367Z,1628970863.367 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-14T19:54:23.669Z,1628970863.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD0,000,01975,189,80,80,83,FF
2021-08-14T19:54:23.669Z,1628970863.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:23.669Z,1628970863.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:23.671Z,1628970863.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:23.741Z,1628970863.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-14T19:54:23.741Z,1628970863.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-14T19:54:23.741Z,1628970863.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-14T19:54:24.108Z,1628970864.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:24.166Z,1628970864.166 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-14T19:54:24.166Z,1628970864.166 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:54:24.166Z,1628970864.166 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-14T19:54:24.166Z,1628970864.166 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-14T19:54:24.167Z,1628970864.167 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T19:54:24.519Z,1628970864.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:54:24.519Z,1628970864.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:54:24.519Z,1628970864.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-14T19:54:24.520Z,1628970864.520 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:54:24.520Z,1628970864.520 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:54:24.520Z,1628970864.520 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-14T19:54:24.520Z,1628970864.520 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:54:24.520Z,1628970864.520 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-14T19:54:24.520Z,1628970864.520 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-14T19:54:24.521Z,1628970864.521 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-14T19:54:24.521Z,1628970864.521 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-14T19:54:24.521Z,1628970864.521 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-14T19:54:24.522Z,1628970864.522 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-14T19:54:24.522Z,1628970864.522 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:54:24.523Z,1628970864.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-14T19:54:24.523Z,1628970864.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 353.519989 m 
2021-08-14T19:54:24.523Z,1628970864.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-14T19:54:24.523Z,1628970864.523 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-14T19:54:24.525Z,1628970864.525 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-14T19:54:24.525Z,1628970864.525 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-14T19:54:24.525Z,1628970864.525 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-14T19:54:24.525Z,1628970864.525 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-14T19:54:24.890Z,1628970864.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195425.66*50

2021-08-14T19:54:24.930Z,1628970864.930 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-14T19:54:24.930Z,1628970864.930 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:54:24.930Z,1628970864.930 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-14T19:54:24.931Z,1628970864.931 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-14T19:54:24.932Z,1628970864.932 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-14T19:54:24.933Z,1628970864.933 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-14T19:54:24.933Z,1628970864.933 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-14T19:54:25.360Z,1628970865.360 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T19:54:25.360Z,1628970865.360 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T19:54:25.360Z,1628970865.360 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-14T19:54:25.361Z,1628970865.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:54:25.361Z,1628970865.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T19:54:25.361Z,1628970865.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-14T19:54:25.362Z,1628970865.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-14T19:54:25.363Z,1628970865.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-14T19:54:25.363Z,1628970865.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-14T19:54:25.364Z,1628970865.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-14T19:54:25.364Z,1628970865.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-14T19:54:25.364Z,1628970865.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-14T19:54:25.364Z,1628970865.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-14T19:54:25.364Z,1628970865.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-14T19:54:25.364Z,1628970865.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T19:54:25.365Z,1628970865.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 420.00 sec.
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-14T19:54:25.366Z,1628970865.366 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-14T19:54:25.367Z,1628970865.367 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-14T19:54:25.718Z,1628970865.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.519989 m, bearing: 303.196469 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T19:54:25.718Z,1628970865.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 303.196469deg and heading rate command to 0 deg/s.
2021-08-14T19:54:25.723Z,1628970865.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:26.093Z,1628970866.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,04C6B,189,80,80,7A,FF
2021-08-14T19:54:26.094Z,1628970866.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:26.648Z,1628970866.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1136.280029 m, bearing: 312.588689 deg, deltaT: 6.007498 s, approachRate: 130.297180 m/s, LOS rate: 1.563416 deg/s, posRepo size: 2
2021-08-14T19:54:26.649Z,1628970866.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 1.563416 deg/s. Setting heading cmd to target bearing of 312.588689deg and heading rate command to 0 deg/s.
2021-08-14T19:54:29.077Z,1628970869.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:29.353Z,1628970869.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:29.354Z,1628970869.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:29.354Z,1628970869.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:29.355Z,1628970869.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:29.765Z,1628970869.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,04C6B,189,80,80,7A,FF
2021-08-14T19:54:29.766Z,1628970869.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:29.766Z,1628970869.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:29.768Z,1628970869.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:30.208Z,1628970870.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:31.039Z,1628970871.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B18,000,01989,189,80,80,82,FF
2021-08-14T19:54:31.039Z,1628970871.039 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:31.042Z,1628970871.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195431.75*57

2021-08-14T19:54:31.488Z,1628970871.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.720001 m, bearing: 313.450686 deg, deltaT: 4.942241 s, approachRate: -158.138794 m/s, LOS rate: 0.174414 deg/s, posRepo size: 3
2021-08-14T19:54:31.490Z,1628970871.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.720001 m,
      bearing: 313.450686 deg,
      approachRate: -158.138794 m/s,
      LOS rate: 0.174414 deg/s,
      cmd update: 0.697657 deg/s,
      cmd heading: 312.588689 deg,
      new cmd heading: 312.588689 deg.

2021-08-14T19:54:33.855Z,1628970873.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:34.269Z,1628970874.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:34.269Z,1628970874.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:34.269Z,1628970874.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:34.270Z,1628970874.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:34.367Z,1628970874.367 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T19:54:34.367Z,1628970874.367 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T19:54:34.368Z,1628970874.368 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T19:54:34.368Z,1628970874.368 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:54:34.368Z,1628970874.368 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T19:54:34.368Z,1628970874.368 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T19:54:34.369Z,1628970874.369 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-14T19:54:34.777Z,1628970874.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B18,000,01989,189,80,80,82,FF
2021-08-14T19:54:34.777Z,1628970874.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:34.777Z,1628970874.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:34.779Z,1628970874.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:34.908Z,1628970874.908 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T19:54:34.908Z,1628970874.908 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T19:54:34.908Z,1628970874.908 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T19:54:34.909Z,1628970874.909 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:54:34.909Z,1628970874.909 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T19:54:35.173Z,1628970875.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:36.043Z,1628970876.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195436.76*53

2021-08-14T19:54:36.429Z,1628970876.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:37.193Z,1628970877.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,0559C,189,80,80,74,FF
2021-08-14T19:54:37.193Z,1628970877.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:37.671Z,1628970877.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1277.460083 m, bearing: 293.454297 deg, deltaT: 6.125921 s, approachRate: 150.628799 m/s, LOS rate: -3.264226 deg/s, posRepo size: 4
2021-08-14T19:54:37.679Z,1628970877.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1277.460083 m,
      bearing: 293.454297 deg,
      approachRate: 150.628799 m/s,
      LOS rate: -3.264226 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 316.851430 deg,
      new cmd heading: 317.172206 deg.

2021-08-14T19:54:37.888Z,1628970877.888 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210814T171856/Courier0042.lzma
2021-08-14T19:54:38.905Z,1628970878.905 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Courier0042.lzma.bak
2021-08-14T19:54:38.905Z,1628970878.905 [DataOverHttps](INFO): SBD MOMSN=438733
2021-08-14T19:54:40.088Z,1628970880.088 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T19:54:40.116Z,1628970880.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:40.465Z,1628970880.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:40.465Z,1628970880.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:40.465Z,1628970880.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:40.466Z,1628970880.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:40.883Z,1628970880.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,0559C,189,80,80,74,FF
2021-08-14T19:54:40.884Z,1628970880.884 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:40.884Z,1628970880.884 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:40.887Z,1628970880.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:41.265Z,1628970881.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:42.095Z,1628970882.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01986,189,80,80,A2,FF
2021-08-14T19:54:42.095Z,1628970882.095 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:42.098Z,1628970882.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195442.87*5E

2021-08-14T19:54:42.541Z,1628970882.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.539978 m, bearing: 316.152354 deg, deltaT: 4.950293 s, approachRate: -186.437469 m/s, LOS rate: 4.585195 deg/s, posRepo size: 4
2021-08-14T19:54:42.545Z,1628970882.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.539978 m,
      bearing: 316.152354 deg,
      approachRate: -186.437469 m/s,
      LOS rate: 4.585195 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 257.263365 deg,
      new cmd heading: 252.917733 deg.

2021-08-14T19:54:44.939Z,1628970884.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:45.301Z,1628970885.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:45.301Z,1628970885.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:45.301Z,1628970885.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:45.302Z,1628970885.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:45.709Z,1628970885.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01986,189,80,80,A2,FF
2021-08-14T19:54:45.709Z,1628970885.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:45.710Z,1628970885.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:45.711Z,1628970885.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:46.151Z,1628970886.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:46.959Z,1628970886.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B51,000,01979,18A,80,80,B2,FF
2021-08-14T19:54:46.960Z,1628970886.960 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:46.962Z,1628970886.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195447.70*53

2021-08-14T19:54:47.410Z,1628970887.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.759979 m, bearing: 321.930585 deg, deltaT: 4.829400 s, approachRate: -0.161510 m/s, LOS rate: 1.196470 deg/s, posRepo size: 4
2021-08-14T19:54:47.414Z,1628970887.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.759979 m,
      bearing: 321.930585 deg,
      approachRate: -0.161510 m/s,
      LOS rate: 1.196470 deg/s,
      cmd update: 4.785879 deg/s,
      cmd heading: 315.271883 deg,
      new cmd heading: 320.042339 deg.

2021-08-14T19:54:49.811Z,1628970889.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:50.171Z,1628970890.171 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:50.171Z,1628970890.171 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:50.171Z,1628970890.171 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:50.173Z,1628970890.173 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:50.571Z,1628970890.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B51,000,01979,18A,80,80,B2,FF
2021-08-14T19:54:50.571Z,1628970890.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:50.571Z,1628970890.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:50.611Z,1628970890.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:51.048Z,1628970891.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:51.861Z,1628970891.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,01962,189,80,80,B4,FF
2021-08-14T19:54:51.861Z,1628970891.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:51.864Z,1628970891.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195452.60*56

2021-08-14T19:54:52.337Z,1628970892.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.380005 m, bearing: 327.281218 deg, deltaT: 4.876698 s, approachRate: -0.282973 m/s, LOS rate: 1.097184 deg/s, posRepo size: 4
2021-08-14T19:54:52.339Z,1628970892.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.380005 m,
      bearing: 327.281218 deg,
      approachRate: -0.282973 m/s,
      LOS rate: 1.097184 deg/s,
      cmd update: 4.388735 deg/s,
      cmd heading: 338.630265 deg,
      new cmd heading: 340.683474 deg.

2021-08-14T19:54:54.711Z,1628970894.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:55.097Z,1628970895.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:55.097Z,1628970895.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:55.098Z,1628970895.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:55.099Z,1628970895.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:54:55.502Z,1628970895.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,01962,189,80,80,B4,FF
2021-08-14T19:54:55.503Z,1628970895.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:54:55.503Z,1628970895.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:54:55.523Z,1628970895.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:54:55.901Z,1628970895.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:54:56.703Z,1628970896.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,0193D,186,80,80,90,FF
2021-08-14T19:54:56.705Z,1628970896.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:54:56.721Z,1628970896.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195457.51*51

2021-08-14T19:54:57.172Z,1628970897.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.159973 m, bearing: 324.627608 deg, deltaT: 4.902520 s, approachRate: -0.452835 m/s, LOS rate: -0.541275 deg/s, posRepo size: 4
2021-08-14T19:54:57.174Z,1628970897.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.159973 m,
      bearing: 324.627608 deg,
      approachRate: -0.452835 m/s,
      LOS rate: -0.541275 deg/s,
      cmd update: -2.165099 deg/s,
      cmd heading: 0.127929 deg,
      new cmd heading: 1.803069 deg.

2021-08-14T19:54:59.598Z,1628970899.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:54:59.956Z,1628970899.956 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:54:59.957Z,1628970899.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:54:59.957Z,1628970899.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:54:59.959Z,1628970899.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:00.374Z,1628970900.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,0193D,186,80,80,90,FF
2021-08-14T19:55:00.375Z,1628970900.375 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:00.375Z,1628970900.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:00.382Z,1628970900.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:00.852Z,1628970900.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:01.657Z,1628970901.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,01917,184,80,80,B1,FF
2021-08-14T19:55:01.657Z,1628970901.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:01.660Z,1628970901.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195502.37*50

2021-08-14T19:55:02.122Z,1628970902.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.880005 m, bearing: 323.095132 deg, deltaT: 4.920005 s, approachRate: -0.463408 m/s, LOS rate: -0.311479 deg/s, posRepo size: 4
2021-08-14T19:55:02.125Z,1628970902.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.880005 m,
      bearing: 323.095132 deg,
      approachRate: -0.463408 m/s,
      LOS rate: -0.311479 deg/s,
      cmd update: -1.245914 deg/s,
      cmd heading: 349.475483 deg,
      new cmd heading: 348.582533 deg.

2021-08-14T19:55:04.530Z,1628970904.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:04.889Z,1628970904.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:04.889Z,1628970904.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:04.889Z,1628970904.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:04.890Z,1628970904.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:05.305Z,1628970905.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,01917,184,80,80,B1,FF
2021-08-14T19:55:05.305Z,1628970905.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:05.305Z,1628970905.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:05.307Z,1628970905.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:05.729Z,1628970905.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:06.113Z,1628970906.113 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:55:06.523Z,1628970906.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,018EE,186,80,80,A7,FF
2021-08-14T19:55:06.523Z,1628970906.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:06.526Z,1628970906.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195507.30*52

2021-08-14T19:55:06.997Z,1628970906.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 345.419983 m, bearing: 320.731094 deg, deltaT: 4.905516 s, approachRate: -0.501481 m/s, LOS rate: -0.481914 deg/s, posRepo size: 4
2021-08-14T19:55:06.999Z,1628970906.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.419983 m,
      bearing: 320.731094 deg,
      approachRate: -0.501481 m/s,
      LOS rate: -0.481914 deg/s,
      cmd update: -1.927657 deg/s,
      cmd heading: 343.436334 deg,
      new cmd heading: 342.888572 deg.

2021-08-14T19:55:08.163Z,1628970908.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T19:55:09.382Z,1628970909.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:09.769Z,1628970909.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:09.770Z,1628970909.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:09.771Z,1628970909.771 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:09.772Z,1628970909.772 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:10.173Z,1628970910.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,018EE,186,80,80,A7,FF
2021-08-14T19:55:10.173Z,1628970910.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:10.174Z,1628970910.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:10.175Z,1628970910.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:10.644Z,1628970910.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:11.202Z,1628970911.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,018EE,186,80,80,A7,FF
2021-08-14T19:55:11.202Z,1628970911.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:11.474Z,1628970911.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195512.16*52

2021-08-14T19:55:11.517Z,1628970911.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 345.419983 m, bearing: 331.122872 deg, deltaT: 4.657886 s, approachRate: 0.000000 m/s, LOS rate: 2.231007 deg/s, posRepo size: 4
2021-08-14T19:55:11.519Z,1628970911.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.419983 m,
      bearing: 331.122872 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.231007 deg/s,
      cmd update: 8.924029 deg/s,
      cmd heading: 334.368616 deg,
      new cmd heading: 333.876373 deg.

2021-08-14T19:55:13.904Z,1628970913.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:14.281Z,1628970914.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:14.281Z,1628970914.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:14.281Z,1628970914.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:14.282Z,1628970914.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:14.693Z,1628970914.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,018EE,186,80,80,A7,FF
2021-08-14T19:55:14.694Z,1628970914.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:14.694Z,1628970914.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:14.695Z,1628970914.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:15.120Z,1628970915.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:15.969Z,1628970915.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,018A0,189,80,80,80,FF
2021-08-14T19:55:15.971Z,1628970915.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:15.994Z,1628970915.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195516.69*5E

2021-08-14T19:55:16.348Z,1628970916.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.740021 m, bearing: 316.045093 deg, deltaT: 4.867746 s, approachRate: -0.961423 m/s, LOS rate: -3.097487 deg/s, posRepo size: 4
2021-08-14T19:55:16.350Z,1628970916.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.740021 m,
      bearing: 316.045093 deg,
      approachRate: -0.961423 m/s,
      LOS rate: -3.097487 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 17.881146 deg,
      new cmd heading: 19.760626 deg.

2021-08-14T19:55:18.775Z,1628970918.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:19.161Z,1628970919.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:19.161Z,1628970919.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:19.161Z,1628970919.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:19.162Z,1628970919.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:19.549Z,1628970919.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,018A0,189,80,80,80,FF
2021-08-14T19:55:19.549Z,1628970919.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:19.550Z,1628970919.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:19.551Z,1628970919.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:20.001Z,1628970920.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:20.801Z,1628970920.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,01879,186,80,80,86,FF
2021-08-14T19:55:20.801Z,1628970920.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:20.804Z,1628970920.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195521.54*54

2021-08-14T19:55:21.244Z,1628970921.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.399994 m, bearing: 320.288826 deg, deltaT: 4.703825 s, approachRate: -0.497473 m/s, LOS rate: 0.902188 deg/s, posRepo size: 4
2021-08-14T19:55:21.246Z,1628970921.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.399994 m,
      bearing: 320.288826 deg,
      approachRate: -0.497473 m/s,
      LOS rate: 0.902188 deg/s,
      cmd update: 3.608751 deg/s,
      cmd heading: 321.484720 deg,
      new cmd heading: 316.602484 deg.

2021-08-14T19:55:23.618Z,1628970923.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:24.037Z,1628970924.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:24.037Z,1628970924.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:24.037Z,1628970924.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:24.038Z,1628970924.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:24.401Z,1628970924.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,01879,186,80,80,86,FF
2021-08-14T19:55:24.401Z,1628970924.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:24.401Z,1628970924.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:24.403Z,1628970924.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:24.809Z,1628970924.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:25.637Z,1628970925.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,01848,189,80,80,79,FF
2021-08-14T19:55:25.638Z,1628970925.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:25.644Z,1628970925.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195526.39*58

2021-08-14T19:55:26.121Z,1628970926.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.459991 m, bearing: 316.807150 deg, deltaT: 4.810846 s, approachRate: -0.611120 m/s, LOS rate: -0.723714 deg/s, posRepo size: 4
2021-08-14T19:55:26.123Z,1628970926.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.459991 m,
      bearing: 316.807150 deg,
      approachRate: -0.611120 m/s,
      LOS rate: -0.723714 deg/s,
      cmd update: -2.894855 deg/s,
      cmd heading: 338.890137 deg,
      new cmd heading: 340.552544 deg.

2021-08-14T19:55:28.479Z,1628970928.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:28.849Z,1628970928.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:28.849Z,1628970928.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:28.849Z,1628970928.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:28.850Z,1628970928.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:28.870Z,1628970928.870 [PowerOnly](INFO): Powering down loadControl
2021-08-14T19:55:29.245Z,1628970929.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,01848,189,80,80,79,FF
2021-08-14T19:55:29.245Z,1628970929.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:29.246Z,1628970929.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:29.247Z,1628970929.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:29.677Z,1628970929.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:30.507Z,1628970930.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,01828,186,80,80,B1,FF
2021-08-14T19:55:30.507Z,1628970930.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:30.510Z,1628970930.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195531.23*55

2021-08-14T19:55:30.981Z,1628970930.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.540009 m, bearing: 319.915733 deg, deltaT: 4.897564 s, approachRate: -0.392028 m/s, LOS rate: 0.634720 deg/s, posRepo size: 4
2021-08-14T19:55:30.983Z,1628970930.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.540009 m,
      bearing: 319.915733 deg,
      approachRate: -0.392028 m/s,
      LOS rate: 0.634720 deg/s,
      cmd update: 2.538881 deg/s,
      cmd heading: 324.736572 deg,
      new cmd heading: 323.499488 deg.

2021-08-14T19:55:33.343Z,1628970933.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:33.713Z,1628970933.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:33.713Z,1628970933.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:33.713Z,1628970933.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:33.714Z,1628970933.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:34.118Z,1628970934.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,01828,186,80,80,B1,FF
2021-08-14T19:55:34.118Z,1628970934.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:34.118Z,1628970934.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:34.120Z,1628970934.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:34.520Z,1628970934.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:35.354Z,1628970935.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,01802,184,80,80,A5,FF
2021-08-14T19:55:35.354Z,1628970935.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:35.357Z,1628970935.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195536.11*53

2021-08-14T19:55:35.778Z,1628970935.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.259979 m, bearing: 320.150228 deg, deltaT: 4.825835 s, approachRate: -0.472463 m/s, LOS rate: 0.048591 deg/s, posRepo size: 4
2021-08-14T19:55:35.783Z,1628970935.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.259979 m,
      bearing: 320.150228 deg,
      approachRate: -0.472463 m/s,
      LOS rate: 0.048591 deg/s,
      cmd update: 0.194366 deg/s,
      cmd heading: 337.010107 deg,
      new cmd heading: 338.006194 deg.

2021-08-14T19:55:38.193Z,1628970938.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:38.561Z,1628970938.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:38.561Z,1628970938.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:38.561Z,1628970938.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:38.562Z,1628970938.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:38.961Z,1628970938.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,01802,184,80,80,A5,FF
2021-08-14T19:55:38.961Z,1628970938.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:38.962Z,1628970938.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:38.963Z,1628970938.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:39.372Z,1628970939.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:40.210Z,1628970940.210 [Micromodem](INFO): Nmea in: $SNTTA,0.439027,,,,195540.95*4B

2021-08-14T19:55:41.117Z,1628970941.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:42.601Z,1628970942.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,A5,FF
2021-08-14T19:55:42.601Z,1628970942.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,A5,FF
2021-08-14T19:55:42.602Z,1628970942.602 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T19:55:43.831Z,1628970943.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:44.217Z,1628970944.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:44.217Z,1628970944.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:44.217Z,1628970944.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:44.218Z,1628970944.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:44.617Z,1628970944.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,A5,FF
2021-08-14T19:55:44.617Z,1628970944.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:44.617Z,1628970944.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:44.619Z,1628970944.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:45.032Z,1628970945.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:45.842Z,1628970945.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,01641,185,80,80,93,FF
2021-08-14T19:55:45.843Z,1628970945.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:45.846Z,1628970945.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195546.60*52

2021-08-14T19:55:46.340Z,1628970946.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.320007 m, bearing: 319.509310 deg, deltaT: 10.481730 s, approachRate: -2.570184 m/s, LOS rate: -0.061146 deg/s, posRepo size: 4
2021-08-14T19:55:46.342Z,1628970946.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.320007 m,
      bearing: 319.509310 deg,
      approachRate: -2.570184 m/s,
      LOS rate: -0.061146 deg/s,
      cmd update: -0.244585 deg/s,
      cmd heading: 339.047350 deg,
      new cmd heading: 339.138898 deg.

2021-08-14T19:55:48.408Z,1628970948.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:48.661Z,1628970948.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:48.661Z,1628970948.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:48.661Z,1628970948.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:48.662Z,1628970948.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:49.071Z,1628970949.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,01641,185,80,80,93,FF
2021-08-14T19:55:49.071Z,1628970949.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:49.071Z,1628970949.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:49.073Z,1628970949.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:49.511Z,1628970949.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:50.285Z,1628970950.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,01787,187,80,80,9B,FF
2021-08-14T19:55:50.286Z,1628970950.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:50.289Z,1628970950.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195551.06*54

2021-08-14T19:55:50.731Z,1628970950.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.880005 m, bearing: 319.399043 deg, deltaT: 4.485295 s, approachRate: 4.360917 m/s, LOS rate: -0.024584 deg/s, posRepo size: 4
2021-08-14T19:55:50.733Z,1628970950.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.880005 m,
      bearing: 319.399043 deg,
      approachRate: 4.360917 m/s,
      LOS rate: -0.024584 deg/s,
      cmd update: -0.098336 deg/s,
      cmd heading: 337.951360 deg,
      new cmd heading: 337.857257 deg.

2021-08-14T19:55:53.150Z,1628970953.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:53.509Z,1628970953.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:53.509Z,1628970953.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:53.509Z,1628970953.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:53.510Z,1628970953.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:53.969Z,1628970953.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,01787,187,80,80,9B,FF
2021-08-14T19:55:53.969Z,1628970953.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:53.970Z,1628970953.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:53.980Z,1628970953.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:54.339Z,1628970954.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:55:55.143Z,1628970955.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,01762,188,80,80,89,FF
2021-08-14T19:55:55.144Z,1628970955.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:55:55.152Z,1628970955.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195555.97*58

2021-08-14T19:55:55.615Z,1628970955.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 321.659973 m, bearing: 319.783392 deg, deltaT: 4.870096 s, approachRate: -0.455850 m/s, LOS rate: 0.078920 deg/s, posRepo size: 4
2021-08-14T19:55:55.621Z,1628970955.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.659973 m,
      bearing: 319.783392 deg,
      approachRate: -0.455850 m/s,
      LOS rate: 0.078920 deg/s,
      cmd update: 0.315680 deg/s,
      cmd heading: 337.472890 deg,
      new cmd heading: 337.433213 deg.

2021-08-14T19:55:58.078Z,1628970958.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:55:58.389Z,1628970958.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:55:58.389Z,1628970958.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:55:58.389Z,1628970958.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:55:58.390Z,1628970958.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:55:58.791Z,1628970958.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,01762,188,80,80,89,FF
2021-08-14T19:55:58.792Z,1628970958.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:55:58.792Z,1628970958.792 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:55:58.796Z,1628970958.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:55:59.177Z,1628970959.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:00.037Z,1628970960.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,155,000,0173B,186,80,80,AB,FF
2021-08-14T19:56:00.037Z,1628970960.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:00.040Z,1628970960.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195600.78*5A

2021-08-14T19:56:00.434Z,1628970960.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.320007 m, bearing: 320.565394 deg, deltaT: 4.897985 s, approachRate: -0.477740 m/s, LOS rate: 0.159658 deg/s, posRepo size: 4
2021-08-14T19:56:00.436Z,1628970960.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.320007 m,
      bearing: 320.565394 deg,
      approachRate: -0.477740 m/s,
      LOS rate: 0.159658 deg/s,
      cmd update: 0.638632 deg/s,
      cmd heading: 339.021921 deg,
      new cmd heading: 339.121478 deg.

2021-08-14T19:56:02.852Z,1628970962.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:03.220Z,1628970963.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:03.220Z,1628970963.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:03.221Z,1628970963.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:03.222Z,1628970963.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:03.630Z,1628970963.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
155,000,0173B,186,80,80,AB,FF
2021-08-14T19:56:03.630Z,1628970963.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:03.630Z,1628970963.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:03.634Z,1628970963.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:04.053Z,1628970964.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:04.070Z,1628970964.070 [Micromodem](INFO): Nmea in: 605,COPROC,0.20.0.39330*75

2021-08-14T19:56:04.070Z,1628970964.070 [Micromodem](ERROR): Response from modem failed NMEA checksum: 605,COPROC,0.20.0.39330*75
 expected 0
2021-08-14T19:56:04.837Z,1628970964.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,01710,185,80,80,8A,FF
2021-08-14T19:56:04.837Z,1628970964.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:05.307Z,1628970965.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.739990 m, bearing: 319.689982 deg, deltaT: 4.764971 s, approachRate: -0.541455 m/s, LOS rate: -0.183718 deg/s, posRepo size: 4
2021-08-14T19:56:05.309Z,1628970965.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.739990 m,
      bearing: 319.689982 deg,
      approachRate: -0.541455 m/s,
      LOS rate: -0.183718 deg/s,
      cmd update: -0.734873 deg/s,
      cmd heading: 342.062363 deg,
      new cmd heading: 342.335313 deg.

2021-08-14T19:56:07.740Z,1628970967.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:08.069Z,1628970968.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:08.069Z,1628970968.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:08.069Z,1628970968.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:08.070Z,1628970968.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:08.501Z,1628970968.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,01710,185,80,80,8A,FF
2021-08-14T19:56:08.502Z,1628970968.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:08.502Z,1628970968.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:08.505Z,1628970968.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:08.909Z,1628970968.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:09.765Z,1628970969.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,016EB,186,80,80,A0,FF
2021-08-14T19:56:09.766Z,1628970969.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:09.774Z,1628970969.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195610.49*59

2021-08-14T19:56:10.186Z,1628970970.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.519989 m, bearing: 320.662492 deg, deltaT: 4.956205 s, approachRate: -0.447924 m/s, LOS rate: 0.196221 deg/s, posRepo size: 4
2021-08-14T19:56:10.189Z,1628970970.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.519989 m,
      bearing: 320.662492 deg,
      approachRate: -0.447924 m/s,
      LOS rate: 0.196221 deg/s,
      cmd update: 0.784882 deg/s,
      cmd heading: 338.420146 deg,
      new cmd heading: 338.162524 deg.

2021-08-14T19:56:12.617Z,1628970972.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:12.937Z,1628970972.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:12.937Z,1628970972.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:12.937Z,1628970972.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:12.938Z,1628970972.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:13.346Z,1628970973.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,016EB,186,80,80,A0,FF
2021-08-14T19:56:13.346Z,1628970973.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:13.346Z,1628970973.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:13.349Z,1628970973.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:13.749Z,1628970973.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:14.573Z,1628970974.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,016C7,186,80,80,97,FF
2021-08-14T19:56:14.573Z,1628970974.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:14.576Z,1628970974.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195615.34*56

2021-08-14T19:56:15.028Z,1628970975.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.359985 m, bearing: 319.424861 deg, deltaT: 4.763986 s, approachRate: -0.453403 m/s, LOS rate: -0.259789 deg/s, posRepo size: 4
2021-08-14T19:56:15.030Z,1628970975.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.359985 m,
      bearing: 319.424861 deg,
      approachRate: -0.453403 m/s,
      LOS rate: -0.259789 deg/s,
      cmd update: -1.039155 deg/s,
      cmd heading: 342.161990 deg,
      new cmd heading: 342.492542 deg.

2021-08-14T19:56:17.425Z,1628970977.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:17.785Z,1628970977.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:17.785Z,1628970977.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:17.785Z,1628970977.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:17.786Z,1628970977.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:18.197Z,1628970978.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,016C7,186,80,80,97,FF
2021-08-14T19:56:18.197Z,1628970978.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:18.198Z,1628970978.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:18.203Z,1628970978.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:18.597Z,1628970978.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:19.421Z,1628970979.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,016A4,189,80,80,A7,FF
2021-08-14T19:56:19.421Z,1628970979.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:19.424Z,1628970979.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195620.19*5F

2021-08-14T19:56:19.895Z,1628970979.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.259979 m, bearing: 317.949076 deg, deltaT: 4.871360 s, approachRate: -0.431092 m/s, LOS rate: -0.302951 deg/s, posRepo size: 4
2021-08-14T19:56:19.903Z,1628970979.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.259979 m,
      bearing: 317.949076 deg,
      approachRate: -0.431092 m/s,
      LOS rate: -0.302951 deg/s,
      cmd update: -1.211806 deg/s,
      cmd heading: 337.134401 deg,
      new cmd heading: 336.669461 deg.

2021-08-14T19:56:22.348Z,1628970982.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:22.641Z,1628970982.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:22.641Z,1628970982.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:22.641Z,1628970982.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:22.642Z,1628970982.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:23.049Z,1628970983.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,016A4,189,80,80,A7,FF
2021-08-14T19:56:23.049Z,1628970983.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:23.049Z,1628970983.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:23.051Z,1628970983.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:23.459Z,1628970983.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:24.285Z,1628970984.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,01682,189,80,80,A7,FF
2021-08-14T19:56:24.285Z,1628970984.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:24.288Z,1628970984.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195625.04*56

2021-08-14T19:56:24.713Z,1628970984.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 308.220001 m, bearing: 314.595344 deg, deltaT: 4.900843 s, approachRate: -0.416250 m/s, LOS rate: -0.684317 deg/s, posRepo size: 4
2021-08-14T19:56:24.717Z,1628970984.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.220001 m,
      bearing: 314.595344 deg,
      approachRate: -0.416250 m/s,
      LOS rate: -0.684317 deg/s,
      cmd update: -2.737270 deg/s,
      cmd heading: 331.159494 deg,
      new cmd heading: 330.747061 deg.

2021-08-14T19:56:27.118Z,1628970987.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:27.485Z,1628970987.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:27.485Z,1628970987.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:27.485Z,1628970987.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:27.486Z,1628970987.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:27.890Z,1628970987.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,01682,189,80,80,A7,FF
2021-08-14T19:56:27.890Z,1628970987.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:27.890Z,1628970987.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:27.892Z,1628970987.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:28.293Z,1628970988.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:29.114Z,1628970989.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,0165F,186,80,80,74,FF
2021-08-14T19:56:29.114Z,1628970989.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:29.117Z,1628970989.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195629.88*5E

2021-08-14T19:56:29.551Z,1628970989.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.119995 m, bearing: 317.384793 deg, deltaT: 4.795571 s, approachRate: -0.437905 m/s, LOS rate: 0.581672 deg/s, posRepo size: 4
2021-08-14T19:56:29.555Z,1628970989.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.119995 m,
      bearing: 317.384793 deg,
      approachRate: -0.437905 m/s,
      LOS rate: 0.581672 deg/s,
      cmd update: 2.326688 deg/s,
      cmd heading: 318.043796 deg,
      new cmd heading: 316.981166 deg.

2021-08-14T19:56:32.051Z,1628970992.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:32.329Z,1628970992.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:32.329Z,1628970992.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:32.329Z,1628970992.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:32.330Z,1628970992.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:32.741Z,1628970992.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,0165F,186,80,80,74,FF
2021-08-14T19:56:32.741Z,1628970992.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:32.741Z,1628970992.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:32.743Z,1628970992.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:33.149Z,1628970993.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:33.997Z,1628970993.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,01643,184,80,80,80,FF
2021-08-14T19:56:33.997Z,1628970993.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:34.000Z,1628970994.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195634.73*56

2021-08-14T19:56:34.430Z,1628970994.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.440002 m, bearing: 322.537843 deg, deltaT: 4.927599 s, approachRate: -0.340935 m/s, LOS rate: 1.045753 deg/s, posRepo size: 4
2021-08-14T19:56:34.434Z,1628970994.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.440002 m,
      bearing: 322.537843 deg,
      approachRate: -0.340935 m/s,
      LOS rate: 1.045753 deg/s,
      cmd update: 4.183011 deg/s,
      cmd heading: 329.501699 deg,
      new cmd heading: 330.285995 deg.

2021-08-14T19:56:36.838Z,1628970996.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:37.177Z,1628970997.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:37.177Z,1628970997.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:37.177Z,1628970997.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:37.178Z,1628970997.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:37.586Z,1628970997.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,01643,184,80,80,80,FF
2021-08-14T19:56:37.586Z,1628970997.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:37.586Z,1628970997.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:37.588Z,1628970997.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:38.037Z,1628970998.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:38.813Z,1628970998.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,0161C,187,80,80,AC,FF
2021-08-14T19:56:38.813Z,1628970998.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:38.817Z,1628970998.817 [Micromodem](INFO): Nmea in: $SNTTA,0.128314,,,,195639.58*41

2021-08-14T19:56:39.234Z,1628970999.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.100006 m, bearing: 322.282312 deg, deltaT: 4.771059 s, approachRate: -0.490456 m/s, LOS rate: -0.053559 deg/s, posRepo size: 4
2021-08-14T19:56:39.241Z,1628970999.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.100006 m,
      bearing: 322.282312 deg,
      approachRate: -0.490456 m/s,
      LOS rate: -0.053559 deg/s,
      cmd update: -0.214234 deg/s,
      cmd heading: 349.488868 deg,
      new cmd heading: 351.021452 deg.

2021-08-14T19:56:41.681Z,1628971001.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:42.041Z,1628971002.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:42.041Z,1628971002.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:42.041Z,1628971002.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:42.042Z,1628971002.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:42.434Z,1628971002.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,0161C,187,80,80,AC,FF
2021-08-14T19:56:42.434Z,1628971002.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:42.434Z,1628971002.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:42.436Z,1628971002.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:42.872Z,1628971002.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:43.681Z,1628971003.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,015F8,184,80,80,A0,FF
2021-08-14T19:56:43.681Z,1628971003.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:43.684Z,1628971003.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195644.42*53

2021-08-14T19:56:44.135Z,1628971004.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.940002 m, bearing: 322.751847 deg, deltaT: 4.868938 s, approachRate: -0.443629 m/s, LOS rate: 0.096435 deg/s, posRepo size: 4
2021-08-14T19:56:44.141Z,1628971004.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.940002 m,
      bearing: 322.751847 deg,
      approachRate: -0.443629 m/s,
      LOS rate: 0.096435 deg/s,
      cmd update: 0.385739 deg/s,
      cmd heading: 348.444910 deg,
      new cmd heading: 348.360015 deg.

2021-08-14T19:56:46.562Z,1628971006.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:46.924Z,1628971006.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:46.924Z,1628971006.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:46.925Z,1628971006.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:46.926Z,1628971006.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:47.313Z,1628971007.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,015F8,184,80,80,A0,FF
2021-08-14T19:56:47.313Z,1628971007.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:47.313Z,1628971007.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:47.315Z,1628971007.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:47.701Z,1628971007.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:48.522Z,1628971008.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,015D3,186,80,80,A1,FF
2021-08-14T19:56:48.522Z,1628971008.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:48.525Z,1628971008.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195649.30*5B

2021-08-14T19:56:48.938Z,1628971008.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.720001 m, bearing: 324.173974 deg, deltaT: 4.840963 s, approachRate: -0.458587 m/s, LOS rate: 0.293770 deg/s, posRepo size: 4
2021-08-14T19:56:48.940Z,1628971008.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.720001 m,
      bearing: 324.173974 deg,
      approachRate: -0.458587 m/s,
      LOS rate: 0.293770 deg/s,
      cmd update: 1.175078 deg/s,
      cmd heading: 350.309101 deg,
      new cmd heading: 350.450390 deg.

2021-08-14T19:56:51.391Z,1628971011.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:51.746Z,1628971011.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:51.746Z,1628971011.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:51.746Z,1628971011.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:51.747Z,1628971011.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:52.161Z,1628971012.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,015D3,186,80,80,A1,FF
2021-08-14T19:56:52.161Z,1628971012.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:52.161Z,1628971012.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:52.163Z,1628971012.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:52.557Z,1628971012.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:53.365Z,1628971013.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,245,000,015B1,188,80,80,81,FF
2021-08-14T19:56:53.365Z,1628971013.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:53.368Z,1628971013.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195654.15*50

2021-08-14T19:56:53.807Z,1628971013.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.679993 m, bearing: 322.004214 deg, deltaT: 4.901630 s, approachRate: -0.416190 m/s, LOS rate: -0.442661 deg/s, posRepo size: 4
2021-08-14T19:56:53.809Z,1628971013.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.679993 m,
      bearing: 322.004214 deg,
      approachRate: -0.416190 m/s,
      LOS rate: -0.442661 deg/s,
      cmd update: -1.770644 deg/s,
      cmd heading: 356.068530 deg,
      new cmd heading: 356.460470 deg.

2021-08-14T19:56:56.306Z,1628971016.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:56:56.585Z,1628971016.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:56:56.585Z,1628971016.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:56:56.585Z,1628971016.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:56:56.586Z,1628971016.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:56:56.985Z,1628971016.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
245,000,015B1,188,80,80,81,FF
2021-08-14T19:56:56.985Z,1628971016.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:56:56.986Z,1628971016.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:56:56.987Z,1628971016.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:56:57.408Z,1628971017.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:56:58.225Z,1628971018.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A0,000,0159A,189,80,80,8C,FF
2021-08-14T19:56:58.225Z,1628971018.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:56:58.249Z,1628971018.249 [Micromodem](INFO): Nmea in: $SNTTA,0.198291,,,,195658.97*42

2021-08-14T19:56:58.636Z,1628971018.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.299988 m, bearing: 319.721620 deg, deltaT: 4.815440 s, approachRate: -0.286579 m/s, LOS rate: -0.474016 deg/s, posRepo size: 4
2021-08-14T19:56:58.638Z,1628971018.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.299988 m,
      bearing: 319.721620 deg,
      approachRate: -0.286579 m/s,
      LOS rate: -0.474016 deg/s,
      cmd update: -1.896063 deg/s,
      cmd heading: 347.527500 deg,
      new cmd heading: 346.927340 deg.

2021-08-14T19:56:58.730Z,1628971018.730 [ThrusterServo](FAULT): Invalid EZ Servo response:""
2021-08-14T19:56:58.730Z,1628971018.730 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-14T19:56:58.730Z,1628971018.730 [ThrusterServo](ERROR): Communications Fault
2021-08-14T19:56:58.753Z,1628971018.753 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-14T19:56:59.089Z,1628971019.089 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-14T19:56:59.089Z,1628971019.089 [ThrusterServo](INFO): Powering down
2021-08-14T19:56:59.991Z,1628971019.991 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-14T19:57:00.109Z,1628971020.109 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-14T19:57:00.113Z,1628971020.113 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-14T19:57:00.113Z,1628971020.113 [ThrusterServo] No Fault, FailCount= 1
2021-08-14T19:57:01.047Z,1628971021.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:01.442Z,1628971021.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:01.442Z,1628971021.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:01.442Z,1628971021.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:01.443Z,1628971021.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:01.842Z,1628971021.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A0,000,0159A,189,80,80,8C,FF
2021-08-14T19:57:01.842Z,1628971021.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:01.842Z,1628971021.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:01.844Z,1628971021.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:02.269Z,1628971022.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:03.081Z,1628971023.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EF,000,01586,189,80,80,77,FF
2021-08-14T19:57:03.081Z,1628971023.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:03.084Z,1628971023.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195703.83*5C

2021-08-14T19:57:03.508Z,1628971023.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.100006 m, bearing: 319.601490 deg, deltaT: 4.802384 s, approachRate: -0.249872 m/s, LOS rate: -0.025015 deg/s, posRepo size: 4
2021-08-14T19:57:03.510Z,1628971023.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.100006 m,
      bearing: 319.601490 deg,
      approachRate: -0.249872 m/s,
      LOS rate: -0.025015 deg/s,
      cmd update: -0.100058 deg/s,
      cmd heading: 338.421422 deg,
      new cmd heading: 337.646531 deg.

2021-08-14T19:57:05.908Z,1628971025.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:06.285Z,1628971026.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:06.285Z,1628971026.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:06.285Z,1628971026.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:06.286Z,1628971026.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:06.709Z,1628971026.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EF,000,01586,189,80,80,77,FF
2021-08-14T19:57:06.709Z,1628971026.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:06.709Z,1628971026.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:06.711Z,1628971026.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:07.093Z,1628971027.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:07.915Z,1628971027.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DC,000,01578,189,80,80,A5,FF
2021-08-14T19:57:07.915Z,1628971027.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:07.918Z,1628971027.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195708.70*5B

2021-08-14T19:57:08.357Z,1628971028.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.260010 m, bearing: 318.634991 deg, deltaT: 4.933518 s, approachRate: -0.170263 m/s, LOS rate: -0.195905 deg/s, posRepo size: 4
2021-08-14T19:57:08.359Z,1628971028.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.260010 m,
      bearing: 318.634991 deg,
      approachRate: -0.170263 m/s,
      LOS rate: -0.195905 deg/s,
      cmd update: -0.783619 deg/s,
      cmd heading: 337.929019 deg,
      new cmd heading: 337.895370 deg.

2021-08-14T19:57:10.758Z,1628971030.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:11.129Z,1628971031.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:11.129Z,1628971031.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:11.129Z,1628971031.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:11.130Z,1628971031.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:11.533Z,1628971031.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DC,000,01578,189,80,80,A5,FF
2021-08-14T19:57:11.533Z,1628971031.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:11.533Z,1628971031.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:11.535Z,1628971031.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:11.976Z,1628971031.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:12.355Z,1628971032.355 [Micromodem](INFO): Nmea in: $SNTTA,0.151775,0.151844,,,195713.52*5C

2021-08-14T19:57:12.749Z,1628971032.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,01561,189,80,80,89,FF
2021-08-14T19:57:12.750Z,1628971032.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:13.178Z,1628971033.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.880005 m, bearing: 318.118875 deg, deltaT: 4.734739 s, approachRate: -0.291464 m/s, LOS rate: -0.109006 deg/s, posRepo size: 4
2021-08-14T19:57:13.189Z,1628971033.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.880005 m,
      bearing: 318.118875 deg,
      approachRate: -0.291464 m/s,
      LOS rate: -0.109006 deg/s,
      cmd update: -0.436025 deg/s,
      cmd heading: 334.209272 deg,
      new cmd heading: 333.888530 deg.

2021-08-14T19:57:15.609Z,1628971035.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:16.029Z,1628971036.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:16.029Z,1628971036.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:16.029Z,1628971036.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:16.030Z,1628971036.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:16.393Z,1628971036.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,01561,189,80,80,89,FF
2021-08-14T19:57:16.393Z,1628971036.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:16.393Z,1628971036.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:16.395Z,1628971036.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:16.821Z,1628971036.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:17.621Z,1628971037.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E9,000,0153E,186,80,80,72,FF
2021-08-14T19:57:17.621Z,1628971037.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:17.624Z,1628971037.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195718.38*56

2021-08-14T19:57:18.111Z,1628971038.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.779999 m, bearing: 317.407579 deg, deltaT: 4.872330 s, approachRate: -0.431007 m/s, LOS rate: -0.145987 deg/s, posRepo size: 4
2021-08-14T19:57:18.113Z,1628971038.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.779999 m,
      bearing: 317.407579 deg,
      approachRate: -0.431007 m/s,
      LOS rate: -0.145987 deg/s,
      cmd update: -0.583947 deg/s,
      cmd heading: 332.084739 deg,
      new cmd heading: 331.879347 deg.

2021-08-14T19:57:20.475Z,1628971040.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:20.861Z,1628971040.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:20.861Z,1628971040.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:20.861Z,1628971040.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:20.862Z,1628971040.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:21.241Z,1628971041.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E9,000,0153E,186,80,80,72,FF
2021-08-14T19:57:21.242Z,1628971041.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:21.242Z,1628971041.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:21.249Z,1628971041.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:21.648Z,1628971041.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:22.058Z,1628971042.058 [Micromodem](INFO): Nmea in: $SNTTA,0.253367,0.253555,,,195723.24*54

2021-08-14T19:57:22.446Z,1628971042.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,0151C,187,80,80,95,FF
2021-08-14T19:57:22.446Z,1628971042.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:22.876Z,1628971042.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.739990 m, bearing: 322.528855 deg, deltaT: 4.881828 s, approachRate: -0.417878 m/s, LOS rate: 1.049049 deg/s, posRepo size: 4
2021-08-14T19:57:22.878Z,1628971042.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.739990 m,
      bearing: 322.528855 deg,
      approachRate: -0.417878 m/s,
      LOS rate: 1.049049 deg/s,
      cmd update: 4.196195 deg/s,
      cmd heading: 329.236334 deg,
      new cmd heading: 329.027339 deg.

2021-08-14T19:57:25.310Z,1628971045.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:25.677Z,1628971045.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:25.677Z,1628971045.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:25.677Z,1628971045.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:25.678Z,1628971045.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:26.077Z,1628971046.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,0151C,187,80,80,95,FF
2021-08-14T19:57:26.077Z,1628971046.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:26.077Z,1628971046.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:26.079Z,1628971046.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:26.501Z,1628971046.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:27.337Z,1628971047.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,014EB,182,80,80,79,FF
2021-08-14T19:57:27.337Z,1628971047.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:27.340Z,1628971047.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195728.07*59

2021-08-14T19:57:27.724Z,1628971047.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.799988 m, bearing: 322.861130 deg, deltaT: 4.877449 s, approachRate: -0.602775 m/s, LOS rate: 0.068125 deg/s, posRepo size: 4
2021-08-14T19:57:27.726Z,1628971047.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.799988 m,
      bearing: 322.861130 deg,
      approachRate: -0.602775 m/s,
      LOS rate: 0.068125 deg/s,
      cmd update: 0.272499 deg/s,
      cmd heading: 349.703078 deg,
      new cmd heading: 351.081213 deg.

2021-08-14T19:57:28.125Z,1628971048.125 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T19:57:30.174Z,1628971050.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:30.521Z,1628971050.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:30.521Z,1628971050.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:30.521Z,1628971050.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:30.522Z,1628971050.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:30.929Z,1628971050.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,014EB,182,80,80,79,FF
2021-08-14T19:57:30.930Z,1628971050.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:30.930Z,1628971050.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:30.932Z,1628971050.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:31.333Z,1628971051.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:32.169Z,1628971052.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,014D1,184,80,80,49,FF
2021-08-14T19:57:32.169Z,1628971052.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:32.172Z,1628971052.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195732.92*5E

2021-08-14T19:57:32.580Z,1628971052.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.239990 m, bearing: 323.030190 deg, deltaT: 4.848729 s, approachRate: -0.321733 m/s, LOS rate: 0.034867 deg/s, posRepo size: 4
2021-08-14T19:57:32.582Z,1628971052.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.239990 m,
      bearing: 323.030190 deg,
      approachRate: -0.321733 m/s,
      LOS rate: 0.034867 deg/s,
      cmd update: 0.139468 deg/s,
      cmd heading: 351.025489 deg,
      new cmd heading: 351.115893 deg.

2021-08-14T19:57:35.001Z,1628971055.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:35.376Z,1628971055.376 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:35.376Z,1628971055.376 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:35.377Z,1628971055.376 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:35.377Z,1628971055.377 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:35.773Z,1628971055.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,014D1,184,80,80,49,FF
2021-08-14T19:57:35.773Z,1628971055.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:35.773Z,1628971055.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:35.775Z,1628971055.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:36.193Z,1628971056.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:37.001Z,1628971057.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,014B0,187,80,80,95,FF
2021-08-14T19:57:37.001Z,1628971057.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:37.005Z,1628971057.005 [Micromodem](INFO): Nmea in: $SNTTA,0.193232,,,,195737.76*47

2021-08-14T19:57:37.432Z,1628971057.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.260010 m, bearing: 323.204196 deg, deltaT: 4.772394 s, approachRate: -0.414882 m/s, LOS rate: 0.036461 deg/s, posRepo size: 4
2021-08-14T19:57:37.434Z,1628971057.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.260010 m,
      bearing: 323.204196 deg,
      approachRate: -0.414882 m/s,
      LOS rate: 0.036461 deg/s,
      cmd update: 0.145844 deg/s,
      cmd heading: 351.691058 deg,
      new cmd heading: 351.748423 deg.

2021-08-14T19:57:39.835Z,1628971059.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:40.228Z,1628971060.228 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:40.228Z,1628971060.228 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:40.229Z,1628971060.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:40.231Z,1628971060.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:40.621Z,1628971060.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,014B0,187,80,80,95,FF
2021-08-14T19:57:40.621Z,1628971060.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:40.621Z,1628971060.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:40.623Z,1628971060.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:41.037Z,1628971061.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:41.861Z,1628971061.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,0147C,188,80,80,5A,FF
2021-08-14T19:57:41.861Z,1628971061.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:41.864Z,1628971061.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195742.61*55

2021-08-14T19:57:42.291Z,1628971062.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.139984 m, bearing: 321.383787 deg, deltaT: 4.859655 s, approachRate: -0.642026 m/s, LOS rate: -0.374596 deg/s, posRepo size: 4
2021-08-14T19:57:42.294Z,1628971062.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.139984 m,
      bearing: 321.383787 deg,
      approachRate: -0.642026 m/s,
      LOS rate: -0.374596 deg/s,
      cmd update: -1.498386 deg/s,
      cmd heading: 352.399806 deg,
      new cmd heading: 352.459832 deg.

2021-08-14T19:57:44.683Z,1628971064.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:45.073Z,1628971065.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:45.073Z,1628971065.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:45.073Z,1628971065.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:45.074Z,1628971065.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:45.470Z,1628971065.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,0147C,188,80,80,5A,FF
2021-08-14T19:57:45.470Z,1628971065.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:45.470Z,1628971065.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:45.499Z,1628971065.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:45.899Z,1628971065.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:46.716Z,1628971066.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,0145F,189,80,80,64,FF
2021-08-14T19:57:46.716Z,1628971066.716 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:46.737Z,1628971066.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195747.49*5A

2021-08-14T19:57:47.128Z,1628971067.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.399994 m, bearing: 319.712850 deg, deltaT: 4.909451 s, approachRate: -0.354416 m/s, LOS rate: -0.340351 deg/s, posRepo size: 4
2021-08-14T19:57:47.130Z,1628971067.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.399994 m,
      bearing: 319.712850 deg,
      approachRate: -0.354416 m/s,
      LOS rate: -0.340351 deg/s,
      cmd update: -1.361405 deg/s,
      cmd heading: 345.049573 deg,
      new cmd heading: 344.536488 deg.

2021-08-14T19:57:49.556Z,1628971069.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:49.921Z,1628971069.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:49.921Z,1628971069.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:49.921Z,1628971069.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:49.922Z,1628971069.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:50.349Z,1628971070.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B8,000,0145F,189,80,80,64,FF
2021-08-14T19:57:50.349Z,1628971070.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:50.349Z,1628971070.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:50.351Z,1628971070.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:50.743Z,1628971070.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:51.548Z,1628971071.548 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AD,000,01455,189,80,80,7D,FF
2021-08-14T19:57:51.549Z,1628971071.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:51.552Z,1628971071.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195752.34*54

2021-08-14T19:57:51.000Z,1628971072.000 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T19:57:52.014Z,1628971072.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.799988 m, bearing: 315.981517 deg, deltaT: 4.823446 s, approachRate: -0.124394 m/s, LOS rate: -0.773582 deg/s, posRepo size: 4
2021-08-14T19:57:52.016Z,1628971072.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.799988 m,
      bearing: 315.981517 deg,
      approachRate: -0.124394 m/s,
      LOS rate: -0.773582 deg/s,
      cmd update: -3.094329 deg/s,
      cmd heading: 338.488530 deg,
      new cmd heading: 337.931777 deg.

2021-08-14T19:57:54.397Z,1628971074.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:54.787Z,1628971074.787 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:54.787Z,1628971074.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:54.787Z,1628971074.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:54.788Z,1628971074.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:57:55.169Z,1628971075.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AD,000,01455,189,80,80,7D,FF
2021-08-14T19:57:55.169Z,1628971075.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:57:55.169Z,1628971075.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:57:55.171Z,1628971075.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:57:55.597Z,1628971075.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:57:56.027Z,1628971076.027 [Micromodem](INFO): Nmea in: $SNTTA,0.292411,0.292399,,,195757.16*56

2021-08-14T19:57:56.389Z,1628971076.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,01430,188,80,80,A1,FF
2021-08-14T19:57:56.390Z,1628971076.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:57:56.811Z,1628971076.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.579987 m, bearing: 313.938089 deg, deltaT: 4.856323 s, approachRate: -0.457136 m/s, LOS rate: -0.420777 deg/s, posRepo size: 4
2021-08-14T19:57:56.814Z,1628971076.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.579987 m,
      bearing: 313.938089 deg,
      approachRate: -0.457136 m/s,
      LOS rate: -0.420777 deg/s,
      cmd update: -1.683108 deg/s,
      cmd heading: 323.469344 deg,
      new cmd heading: 322.377052 deg.

2021-08-14T19:57:59.219Z,1628971079.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:57:59.606Z,1628971079.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:57:59.606Z,1628971079.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:57:59.607Z,1628971079.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:57:59.616Z,1628971079.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:00.041Z,1628971080.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,01430,188,80,80,A1,FF
2021-08-14T19:58:00.041Z,1628971080.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:00.041Z,1628971080.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:00.043Z,1628971080.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:00.438Z,1628971080.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:01.227Z,1628971081.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,01403,186,80,80,7B,FF
2021-08-14T19:58:01.229Z,1628971081.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:01.255Z,1628971081.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195802.03*5A

2021-08-14T19:58:01.673Z,1628971081.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.879974 m, bearing: 315.998347 deg, deltaT: 4.840593 s, approachRate: -0.557785 m/s, LOS rate: 0.425621 deg/s, posRepo size: 4
2021-08-14T19:58:01.675Z,1628971081.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.879974 m,
      bearing: 315.998347 deg,
      approachRate: -0.557785 m/s,
      LOS rate: 0.425621 deg/s,
      cmd update: 1.702484 deg/s,
      cmd heading: 315.319232 deg,
      new cmd heading: 314.693811 deg.

2021-08-14T19:58:04.095Z,1628971084.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:04.478Z,1628971084.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:04.478Z,1628971084.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:04.478Z,1628971084.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:04.479Z,1628971084.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:04.857Z,1628971084.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,01403,186,80,80,7B,FF
2021-08-14T19:58:04.857Z,1628971084.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:04.858Z,1628971084.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:04.859Z,1628971084.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:05.282Z,1628971085.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:06.093Z,1628971086.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,013E0,187,80,80,9E,FF
2021-08-14T19:58:06.094Z,1628971086.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:06.114Z,1628971086.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195806.85*50

2021-08-14T19:58:06.518Z,1628971086.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.779999 m, bearing: 321.183471 deg, deltaT: 4.873696 s, approachRate: -0.430879 m/s, LOS rate: 1.063900 deg/s, posRepo size: 4
2021-08-14T19:58:06.520Z,1628971086.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.779999 m,
      bearing: 321.183471 deg,
      approachRate: -0.430879 m/s,
      LOS rate: 1.063900 deg/s,
      cmd update: 4.255599 deg/s,
      cmd heading: 323.631992 deg,
      new cmd heading: 324.201538 deg.

2021-08-14T19:58:08.927Z,1628971088.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:09.305Z,1628971089.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:09.305Z,1628971089.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:09.305Z,1628971089.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:09.306Z,1628971089.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:09.709Z,1628971089.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,013E0,187,80,80,9E,FF
2021-08-14T19:58:09.709Z,1628971089.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:09.709Z,1628971089.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:09.711Z,1628971089.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:10.125Z,1628971090.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:10.941Z,1628971090.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,013D8,188,80,80,AB,FF
2021-08-14T19:58:10.941Z,1628971090.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:10.947Z,1628971090.947 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195811.70*5C

2021-08-14T19:58:11.354Z,1628971091.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.299988 m, bearing: 327.483993 deg, deltaT: 4.861473 s, approachRate: -0.098738 m/s, LOS rate: 1.296011 deg/s, posRepo size: 4
2021-08-14T19:58:11.356Z,1628971091.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.299988 m,
      bearing: 327.483993 deg,
      approachRate: -0.098738 m/s,
      LOS rate: 1.296011 deg/s,
      cmd update: 5.184043 deg/s,
      cmd heading: 344.266380 deg,
      new cmd heading: 345.632147 deg.

2021-08-14T19:58:13.771Z,1628971093.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:14.157Z,1628971094.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:14.158Z,1628971094.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:14.158Z,1628971094.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:14.159Z,1628971094.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:14.565Z,1628971094.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,013D8,188,80,80,AB,FF
2021-08-14T19:58:14.565Z,1628971094.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:14.565Z,1628971094.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:14.567Z,1628971094.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:14.965Z,1628971094.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:15.789Z,1628971095.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,013B4,187,80,80,78,FF
2021-08-14T19:58:15.790Z,1628971095.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:15.793Z,1628971095.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195816.56*5F

2021-08-14T19:58:16.262Z,1628971096.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.139984 m, bearing: 325.139380 deg, deltaT: 4.793890 s, approachRate: -0.450574 m/s, LOS rate: -0.489084 deg/s, posRepo size: 4
2021-08-14T19:58:16.268Z,1628971096.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.139984 m,
      bearing: 325.139380 deg,
      approachRate: -0.450574 m/s,
      LOS rate: -0.489084 deg/s,
      cmd update: -1.956334 deg/s,
      cmd heading: 9.024945 deg,
      new cmd heading: 11.267998 deg.

2021-08-14T19:58:18.630Z,1628971098.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:19.001Z,1628971099.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:19.001Z,1628971099.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:19.002Z,1628971099.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:19.003Z,1628971099.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:19.409Z,1628971099.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,013B4,187,80,80,78,FF
2021-08-14T19:58:19.410Z,1628971099.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:19.410Z,1628971099.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:19.412Z,1628971099.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:19.817Z,1628971099.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:20.637Z,1628971100.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,01382,186,80,80,78,FF
2021-08-14T19:58:20.638Z,1628971100.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:20.641Z,1628971100.641 [Micromodem](INFO): Nmea in: $SNTTA,0.176305,,,,195821.40*44

2021-08-14T19:58:21.062Z,1628971101.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.139984 m, bearing: 322.698489 deg, deltaT: 4.869550 s, approachRate: -0.616073 m/s, LOS rate: -0.501256 deg/s, posRepo size: 4
2021-08-14T19:58:21.065Z,1628971101.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.139984 m,
      bearing: 322.698489 deg,
      approachRate: -0.616073 m/s,
      LOS rate: -0.501256 deg/s,
      cmd update: -2.005024 deg/s,
      cmd heading: 359.484665 deg,
      new cmd heading: 358.745881 deg.

2021-08-14T19:58:23.509Z,1628971103.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:23.849Z,1628971103.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:23.849Z,1628971103.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:23.849Z,1628971103.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:23.850Z,1628971103.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:24.267Z,1628971104.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,01382,186,80,80,78,FF
2021-08-14T19:58:24.267Z,1628971104.267 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:24.267Z,1628971104.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:24.269Z,1628971104.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:24.669Z,1628971104.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:25.485Z,1628971105.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,0136D,186,80,80,69,FF
2021-08-14T19:58:25.485Z,1628971105.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:25.488Z,1628971105.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195826.26*5B

2021-08-14T19:58:25.918Z,1628971105.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.879974 m, bearing: 324.230883 deg, deltaT: 4.810710 s, approachRate: -0.261918 m/s, LOS rate: 0.318538 deg/s, posRepo size: 4
2021-08-14T19:58:25.921Z,1628971105.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.879974 m,
      bearing: 324.230883 deg,
      approachRate: -0.261918 m/s,
      LOS rate: 0.318538 deg/s,
      cmd update: 1.274152 deg/s,
      cmd heading: 349.791788 deg,
      new cmd heading: 348.991599 deg.

2021-08-14T19:58:28.353Z,1628971108.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:28.701Z,1628971108.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:28.701Z,1628971108.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:28.701Z,1628971108.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:28.702Z,1628971108.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:29.105Z,1628971109.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,0136D,186,80,80,69,FF
2021-08-14T19:58:29.105Z,1628971109.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:29.105Z,1628971109.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:29.107Z,1628971109.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:29.517Z,1628971109.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:30.344Z,1628971110.344 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,0133E,188,80,80,61,FF
2021-08-14T19:58:30.345Z,1628971110.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:30.348Z,1628971110.348 [Micromodem](INFO): Nmea in: $SNTTA,0.364362,0.364387,,,195831.10*53

2021-08-14T19:58:30.779Z,1628971110.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.059998 m, bearing: 319.976194 deg, deltaT: 4.917033 s, approachRate: -0.573512 m/s, LOS rate: -0.865296 deg/s, posRepo size: 4
2021-08-14T19:58:30.782Z,1628971110.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.059998 m,
      bearing: 319.976194 deg,
      approachRate: -0.573512 m/s,
      LOS rate: -0.865296 deg/s,
      cmd update: -3.461184 deg/s,
      cmd heading: 356.031505 deg,
      new cmd heading: 356.494396 deg.

2021-08-14T19:58:33.163Z,1628971113.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:33.553Z,1628971113.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:33.553Z,1628971113.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:33.553Z,1628971113.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:33.554Z,1628971113.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:33.973Z,1628971113.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,0133E,188,80,80,61,FF
2021-08-14T19:58:33.973Z,1628971113.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:33.974Z,1628971113.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:33.979Z,1628971113.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:34.357Z,1628971114.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:35.175Z,1628971115.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,01328,189,80,80,50,FF
2021-08-14T19:58:35.180Z,1628971115.180 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:35.189Z,1628971115.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195835.98*5C

2021-08-14T19:58:35.615Z,1628971115.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.739990 m, bearing: 317.820013 deg, deltaT: 4.795946 s, approachRate: -0.275234 m/s, LOS rate: -0.449584 deg/s, posRepo size: 4
2021-08-14T19:58:35.617Z,1628971115.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.739990 m,
      bearing: 317.820013 deg,
      approachRate: -0.275234 m/s,
      LOS rate: -0.449584 deg/s,
      cmd update: -1.798337 deg/s,
      cmd heading: 339.377725 deg,
      new cmd heading: 338.038396 deg.

2021-08-14T19:58:38.086Z,1628971118.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:38.393Z,1628971118.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:38.394Z,1628971118.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:38.394Z,1628971118.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:38.395Z,1628971118.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:38.797Z,1628971118.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,01328,189,80,80,50,FF
2021-08-14T19:58:38.797Z,1628971118.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:38.797Z,1628971118.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:38.799Z,1628971118.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:39.215Z,1628971119.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:40.044Z,1628971120.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,0130B,189,80,80,99,FF
2021-08-14T19:58:40.045Z,1628971120.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:40.047Z,1628971120.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195840.79*51

2021-08-14T19:58:40.479Z,1628971120.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.999985 m, bearing: 320.383055 deg, deltaT: 4.851993 s, approachRate: -0.358617 m/s, LOS rate: 0.528245 deg/s, posRepo size: 4
2021-08-14T19:58:40.482Z,1628971120.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.999985 m,
      bearing: 320.383055 deg,
      approachRate: -0.358617 m/s,
      LOS rate: 0.528245 deg/s,
      cmd update: 2.112981 deg/s,
      cmd heading: 330.644435 deg,
      new cmd heading: 329.939121 deg.

2021-08-14T19:58:42.870Z,1628971122.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:43.248Z,1628971123.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:43.249Z,1628971123.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:43.249Z,1628971123.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:43.250Z,1628971123.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:43.645Z,1628971123.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,0130B,189,80,80,99,FF
2021-08-14T19:58:43.645Z,1628971123.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:43.645Z,1628971123.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:43.647Z,1628971123.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:44.046Z,1628971124.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:44.873Z,1628971124.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,012D9,185,80,80,94,FF
2021-08-14T19:58:44.873Z,1628971124.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:44.876Z,1628971124.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195845.64*58

2021-08-14T19:58:45.292Z,1628971125.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.000000 m, bearing: 315.660608 deg, deltaT: 4.807861 s, approachRate: -0.623975 m/s, LOS rate: -0.982235 deg/s, posRepo size: 4
2021-08-14T19:58:45.294Z,1628971125.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.000000 m,
      bearing: 315.660608 deg,
      approachRate: -0.623975 m/s,
      LOS rate: -0.982235 deg/s,
      cmd update: -3.928938 deg/s,
      cmd heading: 340.803265 deg,
      new cmd heading: 341.647661 deg.

2021-08-14T19:58:46.947Z,1628971126.947 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T19:58:47.767Z,1628971127.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:48.145Z,1628971128.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:48.145Z,1628971128.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:48.145Z,1628971128.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:48.146Z,1628971128.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:48.545Z,1628971128.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,012D9,185,80,80,94,FF
2021-08-14T19:58:48.545Z,1628971128.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:48.545Z,1628971128.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:48.547Z,1628971128.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:48.953Z,1628971128.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:49.776Z,1628971129.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,012B9,183,80,80,9B,FF
2021-08-14T19:58:49.777Z,1628971129.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:49.779Z,1628971129.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195850.54*5F

2021-08-14T19:58:50.208Z,1628971130.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.079987 m, bearing: 324.665119 deg, deltaT: 4.903374 s, approachRate: -0.391570 m/s, LOS rate: 1.836391 deg/s, posRepo size: 4
2021-08-14T19:58:50.215Z,1628971130.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.079987 m,
      bearing: 324.665119 deg,
      approachRate: -0.391570 m/s,
      LOS rate: 1.836391 deg/s,
      cmd update: 7.345564 deg/s,
      cmd heading: 321.538227 deg,
      new cmd heading: 319.917426 deg.

2021-08-14T19:58:51.387Z,1628971131.387 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-14T19:58:52.641Z,1628971132.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:52.989Z,1628971132.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:52.989Z,1628971132.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:52.989Z,1628971132.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:52.990Z,1628971132.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:53.394Z,1628971133.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,012B9,183,80,80,9B,FF
2021-08-14T19:58:53.394Z,1628971133.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:53.394Z,1628971133.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:53.420Z,1628971133.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:53.798Z,1628971133.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:54.622Z,1628971134.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,0129C,187,80,80,90,FF
2021-08-14T19:58:54.622Z,1628971134.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:54.625Z,1628971134.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195855.41*5E

2021-08-14T19:58:55.029Z,1628971135.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.339981 m, bearing: 323.005329 deg, deltaT: 4.904763 s, approachRate: -0.354758 m/s, LOS rate: -0.338404 deg/s, posRepo size: 4
2021-08-14T19:58:55.031Z,1628971135.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.339981 m,
      bearing: 323.005329 deg,
      approachRate: -0.354758 m/s,
      LOS rate: -0.338404 deg/s,
      cmd update: -1.353615 deg/s,
      cmd heading: 357.532202 deg,
      new cmd heading: 359.986604 deg.

2021-08-14T19:58:57.479Z,1628971137.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:58:57.829Z,1628971137.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:58:57.829Z,1628971137.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:58:57.829Z,1628971137.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:58:57.830Z,1628971137.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:58:58.245Z,1628971138.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,0129C,187,80,80,90,FF
2021-08-14T19:58:58.246Z,1628971138.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:58:58.246Z,1628971138.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:58:58.253Z,1628971138.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:58:58.669Z,1628971138.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:58:59.466Z,1628971139.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,01281,186,80,80,BA,FF
2021-08-14T19:58:59.467Z,1628971139.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:58:59.471Z,1628971139.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195900.25*5D

2021-08-14T19:58:59.888Z,1628971139.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.720001 m, bearing: 322.344767 deg, deltaT: 4.854713 s, approachRate: -0.333692 m/s, LOS rate: -0.136066 deg/s, posRepo size: 4
2021-08-14T19:58:59.890Z,1628971139.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.720001 m,
      bearing: 322.344767 deg,
      approachRate: -0.333692 m/s,
      LOS rate: -0.136066 deg/s,
      cmd update: -0.544264 deg/s,
      cmd heading: 350.954468 deg,
      new cmd heading: 350.503811 deg.

2021-08-14T19:59:02.364Z,1628971142.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:02.687Z,1628971142.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:02.687Z,1628971142.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:02.688Z,1628971142.688 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:02.689Z,1628971142.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:03.094Z,1628971143.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,01281,186,80,80,BA,FF
2021-08-14T19:59:03.094Z,1628971143.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:03.094Z,1628971143.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:03.096Z,1628971143.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:03.525Z,1628971143.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:04.329Z,1628971144.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,01263,187,80,80,9B,FF
2021-08-14T19:59:04.330Z,1628971144.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:04.333Z,1628971144.333 [Micromodem](INFO): Nmea in: $SNTTA,0.330044,,,,195905.09*48

2021-08-14T19:59:04.782Z,1628971144.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.919998 m, bearing: 318.481749 deg, deltaT: 4.862320 s, approachRate: -0.370194 m/s, LOS rate: -0.794481 deg/s, posRepo size: 4
2021-08-14T19:59:04.785Z,1628971144.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.919998 m,
      bearing: 318.481749 deg,
      approachRate: -0.370194 m/s,
      LOS rate: -0.794481 deg/s,
      cmd update: -3.177922 deg/s,
      cmd heading: 348.319193 deg,
      new cmd heading: 348.109284 deg.

2021-08-14T19:59:07.139Z,1628971147.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:07.533Z,1628971147.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:07.533Z,1628971147.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:07.534Z,1628971147.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:07.534Z,1628971147.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:07.933Z,1628971147.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,01263,187,80,80,9B,FF
2021-08-14T19:59:07.933Z,1628971147.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:07.934Z,1628971147.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:07.957Z,1628971147.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:08.345Z,1628971148.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:09.143Z,1628971149.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,0124F,185,80,80,6C,FF
2021-08-14T19:59:09.144Z,1628971149.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:09.151Z,1628971149.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195909.95*5F

2021-08-14T19:59:09.598Z,1628971149.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.720001 m, bearing: 315.268118 deg, deltaT: 4.790769 s, approachRate: -0.250481 m/s, LOS rate: -0.670797 deg/s, posRepo size: 4
2021-08-14T19:59:09.605Z,1628971149.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.720001 m,
      bearing: 315.268118 deg,
      approachRate: -0.250481 m/s,
      LOS rate: -0.670797 deg/s,
      cmd update: -2.683186 deg/s,
      cmd heading: 333.042445 deg,
      new cmd heading: 331.788758 deg.

2021-08-14T19:59:12.044Z,1628971152.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:12.381Z,1628971152.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:12.381Z,1628971152.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:12.381Z,1628971152.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:12.382Z,1628971152.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:12.785Z,1628971152.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,0124F,185,80,80,6C,FF
2021-08-14T19:59:12.785Z,1628971152.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:12.785Z,1628971152.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:12.787Z,1628971152.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:13.189Z,1628971153.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:14.033Z,1628971154.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,01221,186,80,80,89,FF
2021-08-14T19:59:14.033Z,1628971154.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:14.036Z,1628971154.036 [Micromodem](INFO): Nmea in: $SNTTA,,0.479017,,,195914.78*42

2021-08-14T19:59:14.457Z,1628971154.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.960007 m, bearing: 326.831300 deg, deltaT: 4.864228 s, approachRate: -0.567406 m/s, LOS rate: 2.377188 deg/s, posRepo size: 4
2021-08-14T19:59:14.464Z,1628971154.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.960007 m,
      bearing: 326.831300 deg,
      approachRate: -0.567406 m/s,
      LOS rate: 2.377188 deg/s,
      cmd update: 9.508750 deg/s,
      cmd heading: 319.980517 deg,
      new cmd heading: 318.994685 deg.

2021-08-14T19:59:16.861Z,1628971156.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:17.236Z,1628971157.236 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:17.236Z,1628971157.236 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:17.236Z,1628971157.236 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:17.237Z,1628971157.237 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:17.625Z,1628971157.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,01221,186,80,80,89,FF
2021-08-14T19:59:17.625Z,1628971157.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:17.626Z,1628971157.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:17.627Z,1628971157.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:18.044Z,1628971158.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:18.445Z,1628971158.445 [Micromodem](INFO): Nmea in: REV,195919,COPROC,0.20.0.39330*77

2021-08-14T19:59:18.445Z,1628971158.445 [Micromodem](ERROR): Response from modem failed NMEA checksum: REV,195919,COPROC,0.20.0.39330*77
 expected 0
2021-08-14T19:59:18.849Z,1628971158.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,011FB,185,80,80,A8,FF
2021-08-14T19:59:18.851Z,1628971158.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:19.322Z,1628971159.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.679993 m, bearing: 323.800199 deg, deltaT: 4.845583 s, approachRate: -0.470535 m/s, LOS rate: -0.625539 deg/s, posRepo size: 4
2021-08-14T19:59:19.324Z,1628971159.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.679993 m,
      bearing: 323.800199 deg,
      approachRate: -0.470535 m/s,
      LOS rate: -0.625539 deg/s,
      cmd update: -2.502156 deg/s,
      cmd heading: 6.056165 deg,
      new cmd heading: 9.904119 deg.

2021-08-14T19:59:21.703Z,1628971161.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:22.073Z,1628971162.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:22.073Z,1628971162.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:22.073Z,1628971162.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:22.074Z,1628971162.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:22.481Z,1628971162.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,011FB,185,80,80,A8,FF
2021-08-14T19:59:22.481Z,1628971162.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:22.481Z,1628971162.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:22.483Z,1628971162.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:22.885Z,1628971162.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:23.717Z,1628971163.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,011C7,186,80,80,83,FF
2021-08-14T19:59:23.718Z,1628971163.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:23.721Z,1628971163.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195924.47*5F

2021-08-14T19:59:24.157Z,1628971164.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.559998 m, bearing: 315.124001 deg, deltaT: 4.824321 s, approachRate: -0.646722 m/s, LOS rate: -1.798429 deg/s, posRepo size: 4
2021-08-14T19:59:24.160Z,1628971164.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.559998 m,
      bearing: 315.124001 deg,
      approachRate: -0.646722 m/s,
      LOS rate: -1.798429 deg/s,
      cmd update: -7.193716 deg/s,
      cmd heading: 353.998815 deg,
      new cmd heading: 352.946623 deg.

2021-08-14T19:59:26.568Z,1628971166.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:26.921Z,1628971166.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:26.921Z,1628971166.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:26.921Z,1628971166.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:26.922Z,1628971166.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:27.341Z,1628971167.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,011C7,186,80,80,83,FF
2021-08-14T19:59:27.341Z,1628971167.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:27.341Z,1628971167.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:27.343Z,1628971167.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:27.741Z,1628971167.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:28.549Z,1628971168.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,01194,188,80,80,A5,FF
2021-08-14T19:59:28.550Z,1628971168.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:28.573Z,1628971168.573 [Micromodem](INFO): Nmea in: $SNTTA,0.244557,,,,195929.33*4A

2021-08-14T19:59:28.991Z,1628971168.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.500000 m, bearing: 316.715134 deg, deltaT: 4.888939 s, approachRate: -0.625902 m/s, LOS rate: 0.325456 deg/s, posRepo size: 4
2021-08-14T19:59:28.993Z,1628971168.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.500000 m,
      bearing: 316.715134 deg,
      approachRate: -0.625902 m/s,
      LOS rate: 0.325456 deg/s,
      cmd update: 1.301823 deg/s,
      cmd heading: 318.820984 deg,
      new cmd heading: 316.199198 deg.

2021-08-14T19:59:31.429Z,1628971171.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:31.787Z,1628971171.787 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:31.787Z,1628971171.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:31.789Z,1628971171.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:31.808Z,1628971171.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:32.176Z,1628971172.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,01194,188,80,80,A5,FF
2021-08-14T19:59:32.176Z,1628971172.176 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:32.177Z,1628971172.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:32.180Z,1628971172.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:32.603Z,1628971172.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:33.428Z,1628971173.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,0115A,186,80,80,9F,FF
2021-08-14T19:59:33.429Z,1628971173.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:33.431Z,1628971173.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195934.17*5B

2021-08-14T19:59:33.864Z,1628971173.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.019989 m, bearing: 322.261111 deg, deltaT: 4.859223 s, approachRate: -0.716166 m/s, LOS rate: 1.141330 deg/s, posRepo size: 4
2021-08-14T19:59:33.866Z,1628971173.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.019989 m,
      bearing: 322.261111 deg,
      approachRate: -0.716166 m/s,
      LOS rate: 1.141330 deg/s,
      cmd update: 4.565320 deg/s,
      cmd heading: 325.128789 deg,
      new cmd heading: 325.633634 deg.

2021-08-14T19:59:36.358Z,1628971176.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:36.652Z,1628971176.652 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:36.652Z,1628971176.652 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:36.652Z,1628971176.652 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:36.653Z,1628971176.653 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:37.049Z,1628971177.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,0115A,186,80,80,9F,FF
2021-08-14T19:59:37.049Z,1628971177.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:37.050Z,1628971177.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:37.054Z,1628971177.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:37.463Z,1628971177.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:38.289Z,1628971178.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,01122,186,80,80,61,FF
2021-08-14T19:59:38.290Z,1628971178.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:38.293Z,1628971178.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195939.04*54

2021-08-14T19:59:38.715Z,1628971178.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.659988 m, bearing: 320.506354 deg, deltaT: 4.900612 s, approachRate: -0.685629 m/s, LOS rate: -0.358069 deg/s, posRepo size: 4
2021-08-14T19:59:38.719Z,1628971178.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.659988 m,
      bearing: 320.506354 deg,
      approachRate: -0.685629 m/s,
      LOS rate: -0.358069 deg/s,
      cmd update: -1.432276 deg/s,
      cmd heading: 347.581257 deg,
      new cmd heading: 349.059362 deg.

2021-08-14T19:59:41.106Z,1628971181.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:41.505Z,1628971181.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:41.505Z,1628971181.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:41.505Z,1628971181.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:41.506Z,1628971181.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:41.893Z,1628971181.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,01122,186,80,80,61,FF
2021-08-14T19:59:41.893Z,1628971181.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:41.893Z,1628971181.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:41.895Z,1628971181.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:42.350Z,1628971182.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:43.153Z,1628971183.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,010EE,185,80,80,93,FF
2021-08-14T19:59:43.153Z,1628971183.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:43.157Z,1628971183.157 [Micromodem](INFO): Nmea in: $SNTTA,0.158183,,,,195943.89*44

2021-08-14T19:59:43.621Z,1628971183.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.539993 m, bearing: 320.918706 deg, deltaT: 4.818436 s, approachRate: -0.647512 m/s, LOS rate: 0.085578 deg/s, posRepo size: 4
2021-08-14T19:59:43.623Z,1628971183.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.539993 m,
      bearing: 320.918706 deg,
      approachRate: -0.647512 m/s,
      LOS rate: 0.085578 deg/s,
      cmd update: 0.342312 deg/s,
      cmd heading: 340.696975 deg,
      new cmd heading: 340.089325 deg.

2021-08-14T19:59:46.091Z,1628971186.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:46.229Z,1628971186.229 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259216
2021-08-14T19:59:46.397Z,1628971186.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:46.397Z,1628971186.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:46.397Z,1628971186.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:46.398Z,1628971186.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:46.496Z,1628971186.496 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T19:59:46.496Z,1628971186.496 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T19:59:46.496Z,1628971186.496 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T19:59:46.496Z,1628971186.496 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T19:59:46.496Z,1628971186.496 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T19:59:46.957Z,1628971186.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,010EE,185,80,80,93,FF
2021-08-14T19:59:46.957Z,1628971186.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:46.957Z,1628971186.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:46.959Z,1628971186.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:47.348Z,1628971187.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:47.598Z,1628971187.598 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761300000005D00000400260000000000000000151D80030C5669C08C79986D68C1A0D5C04F5C3878C1AF92C434A140318E812EC7BB8AAD3600
2021-08-14T19:59:47.599Z,1628971187.599 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T19:59:47.917Z,1628971187.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,010B4,187,80,80,5A,FF
2021-08-14T19:59:47.918Z,1628971187.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:47.920Z,1628971187.920 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T19:59:48.345Z,1628971188.345 [Micromodem](INFO): Nmea in: $CADRQ,195949,1,10,0,64,1*7F

2021-08-14T19:59:48.346Z,1628971188.346 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761300000005D00000400260000000000000000151D80030C5669C08C79986D68C1A0D5C04F5C3878C1AF92C434A140318E812EC7BB8AAD3600*37

2021-08-14T19:59:48.549Z,1628971188.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.059982 m, bearing: 319.057944 deg, deltaT: 4.813969 s, approachRate: -0.722898 m/s, LOS rate: -0.386534 deg/s, posRepo size: 4
2021-08-14T19:59:48.551Z,1628971188.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.059982 m,
      bearing: 319.057944 deg,
      approachRate: -0.722898 m/s,
      LOS rate: -0.386534 deg/s,
      cmd update: -1.546136 deg/s,
      cmd heading: 342.346934 deg,
      new cmd heading: 342.529212 deg.

2021-08-14T19:59:48.746Z,1628971188.746 [Micromodem](INFO): Nmea in: $SNTTA,0.397954,0.398079,,,195948.95*53

2021-08-14T19:59:48.746Z,1628971188.746 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.397954,0.398079,,,195948.95*53

2021-08-14T19:59:50.071Z,1628971190.071 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T19:59:50.455Z,1628971190.455 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T19:59:50.854Z,1628971190.854 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T19:59:50.876Z,1628971190.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:51.285Z,1628971191.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:51.285Z,1628971191.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:51.286Z,1628971191.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:51.287Z,1628971191.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:51.303Z,1628971191.303 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,195950.356808,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-14T19:59:51.661Z,1628971191.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EE,000,010B4,187,80,80,5A,FF
2021-08-14T19:59:51.661Z,1628971191.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:51.661Z,1628971191.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:51.663Z,1628971191.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:52.076Z,1628971192.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:52.902Z,1628971192.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195953.65*5F

2021-08-14T19:59:53.493Z,1628971193.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:53.849Z,1628971193.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,04EE2,186,80,80,89,FF
2021-08-14T19:59:53.849Z,1628971193.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:54.324Z,1628971194.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1174.140015 m, bearing: 318.050791 deg, deltaT: 5.868475 s, approachRate: 162.747559 m/s, LOS rate: -0.171621 deg/s, posRepo size: 4
2021-08-14T19:59:54.326Z,1628971194.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1174.140015 m,
      bearing: 318.050791 deg,
      approachRate: 162.747559 m/s,
      LOS rate: -0.171621 deg/s,
      cmd update: -0.686483 deg/s,
      cmd heading: 333.300086 deg,
      new cmd heading: 332.594609 deg.

2021-08-14T19:59:56.492Z,1628971196.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T19:59:56.853Z,1628971196.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T19:59:56.853Z,1628971196.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T19:59:56.853Z,1628971196.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T19:59:56.854Z,1628971196.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T19:59:57.244Z,1628971197.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,04EE2,186,80,80,89,FF
2021-08-14T19:59:57.244Z,1628971197.244 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T19:59:57.245Z,1628971197.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T19:59:57.246Z,1628971197.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T19:59:57.735Z,1628971197.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T19:59:58.134Z,1628971198.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,0103F,186,80,80,89,FF
2021-08-14T19:59:58.134Z,1628971198.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T19:59:58.537Z,1628971198.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195959.24*50

2021-08-14T19:59:58.602Z,1628971198.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.039993 m, bearing: 322.387798 deg, deltaT: 4.305836 s, approachRate: -223.440933 m/s, LOS rate: 1.007239 deg/s, posRepo size: 4
2021-08-14T19:59:58.608Z,1628971198.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.039993 m,
      bearing: 322.387798 deg,
      approachRate: -223.440933 m/s,
      LOS rate: 1.007239 deg/s,
      cmd update: 4.028956 deg/s,
      cmd heading: 330.333484 deg,
      new cmd heading: 330.054298 deg.

2021-08-14T20:00:00.596Z,1628971200.596 [Radio_Surface](INFO): Powering down
2021-08-14T20:00:00.870Z,1628971200.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:01.201Z,1628971201.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:01.201Z,1628971201.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:01.201Z,1628971201.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:01.202Z,1628971201.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:01.597Z,1628971201.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,0103F,186,80,80,89,FF
2021-08-14T20:00:01.597Z,1628971201.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:01.597Z,1628971201.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:01.599Z,1628971201.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:02.120Z,1628971202.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:02.533Z,1628971202.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,0100D,186,80,80,50,FF
2021-08-14T20:00:02.534Z,1628971202.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:02.958Z,1628971202.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200003.59*53

2021-08-14T20:00:03.031Z,1628971203.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.039993 m, bearing: 322.809138 deg, deltaT: 4.364040 s, approachRate: -0.687436 m/s, LOS rate: 0.096548 deg/s, posRepo size: 4
2021-08-14T20:00:03.034Z,1628971203.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.039993 m,
      bearing: 322.809138 deg,
      approachRate: -0.687436 m/s,
      LOS rate: 0.096548 deg/s,
      cmd update: 0.386193 deg/s,
      cmd heading: 347.948309 deg,
      new cmd heading: 349.843369 deg.

2021-08-14T20:00:05.459Z,1628971205.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:05.829Z,1628971205.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:05.829Z,1628971205.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:05.829Z,1628971205.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:05.830Z,1628971205.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:06.337Z,1628971206.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,0100D,186,80,80,50,FF
2021-08-14T20:00:06.337Z,1628971206.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:06.338Z,1628971206.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:06.339Z,1628971206.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:06.725Z,1628971206.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:07.135Z,1628971207.135 [Micromodem](INFO): Nmea in: $SNTTA,0.221322,0.219641,,,200008.33*5F

2021-08-14T20:00:07.541Z,1628971207.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00FD5,187,80,80,5B,FF
2021-08-14T20:00:07.541Z,1628971207.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:08.190Z,1628971208.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.679993 m, bearing: 315.262872 deg, deltaT: 5.047204 s, approachRate: -0.665715 m/s, LOS rate: -1.495138 deg/s, posRepo size: 4
2021-08-14T20:00:08.192Z,1628971208.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.679993 m,
      bearing: 315.262872 deg,
      approachRate: -0.665715 m/s,
      LOS rate: -1.495138 deg/s,
      cmd update: -5.980552 deg/s,
      cmd heading: 349.894272 deg,
      new cmd heading: 350.116951 deg.

2021-08-14T20:00:10.192Z,1628971210.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:10.549Z,1628971210.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:10.549Z,1628971210.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:10.549Z,1628971210.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:10.550Z,1628971210.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:10.971Z,1628971210.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00FD5,187,80,80,5B,FF
2021-08-14T20:00:10.988Z,1628971210.988 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:10.989Z,1628971210.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:10.999Z,1628971210.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:11.433Z,1628971211.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:12.229Z,1628971212.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,00FA6,189,80,80,6A,FF
2021-08-14T20:00:12.229Z,1628971212.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:12.812Z,1628971212.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.859985 m, bearing: 314.985484 deg, deltaT: 4.912102 s, approachRate: -0.574094 m/s, LOS rate: -0.056470 deg/s, posRepo size: 4
2021-08-14T20:00:12.814Z,1628971212.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.859985 m,
      bearing: 314.985484 deg,
      approachRate: -0.574094 m/s,
      LOS rate: -0.056470 deg/s,
      cmd update: -0.225881 deg/s,
      cmd heading: 320.465993 deg,
      new cmd heading: 318.725383 deg.

2021-08-14T20:00:15.045Z,1628971215.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:15.373Z,1628971215.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:15.373Z,1628971215.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:15.373Z,1628971215.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:15.374Z,1628971215.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:15.763Z,1628971215.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,00FA6,189,80,80,6A,FF
2021-08-14T20:00:15.763Z,1628971215.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:15.781Z,1628971215.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:15.783Z,1628971215.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:16.190Z,1628971216.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:17.018Z,1628971217.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,00F6C,186,80,80,66,FF
2021-08-14T20:00:17.018Z,1628971217.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:17.021Z,1628971217.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200017.77*5A

2021-08-14T20:00:17.422Z,1628971217.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.379990 m, bearing: 321.050638 deg, deltaT: 4.559261 s, approachRate: -0.763281 m/s, LOS rate: 1.330293 deg/s, posRepo size: 4
2021-08-14T20:00:17.425Z,1628971217.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.379990 m,
      bearing: 321.050638 deg,
      approachRate: -0.763281 m/s,
      LOS rate: 1.330293 deg/s,
      cmd update: 5.321172 deg/s,
      cmd heading: 319.437022 deg,
      new cmd heading: 319.358779 deg.

2021-08-14T20:00:19.854Z,1628971219.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:20.206Z,1628971220.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:20.206Z,1628971220.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:20.206Z,1628971220.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:20.207Z,1628971220.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:20.602Z,1628971220.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,00F6C,186,80,80,66,FF
2021-08-14T20:00:20.602Z,1628971220.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:20.602Z,1628971220.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:20.603Z,1628971220.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:21.121Z,1628971221.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:21.517Z,1628971221.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00F34,183,80,80,47,FF
2021-08-14T20:00:21.517Z,1628971221.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:21.972Z,1628971221.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.019989 m, bearing: 322.042245 deg, deltaT: 4.493574 s, approachRate: -0.747735 m/s, LOS rate: 0.220672 deg/s, posRepo size: 4
2021-08-14T20:00:21.974Z,1628971221.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.019989 m,
      bearing: 322.042245 deg,
      approachRate: -0.747735 m/s,
      LOS rate: 0.220672 deg/s,
      cmd update: 0.882689 deg/s,
      cmd heading: 343.345938 deg,
      new cmd heading: 345.490573 deg.

2021-08-14T20:00:22.376Z,1628971222.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T20:00:23.380Z,1628971223.380 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-14T20:00:24.386Z,1628971224.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:24.733Z,1628971224.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:24.733Z,1628971224.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:24.733Z,1628971224.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:24.734Z,1628971224.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:25.149Z,1628971225.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00F34,183,80,80,47,FF
2021-08-14T20:00:25.149Z,1628971225.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:25.149Z,1628971225.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:25.151Z,1628971225.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:25.724Z,1628971225.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:26.114Z,1628971226.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00EFD,186,80,80,7D,FF
2021-08-14T20:00:26.114Z,1628971226.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:26.541Z,1628971226.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200027.14*5C

2021-08-14T20:00:26.601Z,1628971226.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.719986 m, bearing: 320.826580 deg, deltaT: 4.562134 s, approachRate: -0.723346 m/s, LOS rate: -0.266468 deg/s, posRepo size: 4
2021-08-14T20:00:26.603Z,1628971226.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.719986 m,
      bearing: 320.826580 deg,
      approachRate: -0.723346 m/s,
      LOS rate: -0.266468 deg/s,
      cmd update: -1.065873 deg/s,
      cmd heading: 347.376725 deg,
      new cmd heading: 347.787383 deg.

2021-08-14T20:00:28.728Z,1628971228.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:29.081Z,1628971229.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:29.081Z,1628971229.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:29.081Z,1628971229.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:29.082Z,1628971229.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:29.509Z,1628971229.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00EFD,186,80,80,7D,FF
2021-08-14T20:00:29.509Z,1628971229.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:29.509Z,1628971229.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:29.511Z,1628971229.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:29.905Z,1628971229.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:30.749Z,1628971230.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27B,000,00ECB,189,80,80,53,FF
2021-08-14T20:00:30.750Z,1628971230.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:31.458Z,1628971231.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.720001 m, bearing: 316.644838 deg, deltaT: 4.909026 s, approachRate: -0.611116 m/s, LOS rate: -0.851848 deg/s, posRepo size: 4
2021-08-14T20:00:31.465Z,1628971231.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.720001 m,
      bearing: 316.644838 deg,
      approachRate: -0.611116 m/s,
      LOS rate: -0.851848 deg/s,
      cmd update: -3.407391 deg/s,
      cmd heading: 342.283156 deg,
      new cmd heading: 341.722584 deg.

2021-08-14T20:00:33.971Z,1628971233.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:34.179Z,1628971234.179 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:34.179Z,1628971234.179 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:34.179Z,1628971234.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:34.180Z,1628971234.180 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:34.578Z,1628971234.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27B,000,00ECB,189,80,80,53,FF
2021-08-14T20:00:34.578Z,1628971234.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:34.578Z,1628971234.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:34.579Z,1628971234.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:35.078Z,1628971235.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:35.797Z,1628971235.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00E92,189,80,80,52,FF
2021-08-14T20:00:35.797Z,1628971235.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:36.219Z,1628971236.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.300018 m, bearing: 313.129449 deg, deltaT: 4.769834 s, approachRate: -0.717003 m/s, LOS rate: -0.737004 deg/s, posRepo size: 4
2021-08-14T20:00:36.222Z,1628971236.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.300018 m,
      bearing: 313.129449 deg,
      approachRate: -0.717003 m/s,
      LOS rate: -0.737004 deg/s,
      cmd update: -2.948018 deg/s,
      cmd heading: 325.587058 deg,
      new cmd heading: 324.206639 deg.

2021-08-14T20:00:38.485Z,1628971238.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:38.673Z,1628971238.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:38.673Z,1628971238.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:38.673Z,1628971238.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:38.674Z,1628971238.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:39.085Z,1628971239.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00E92,189,80,80,52,FF
2021-08-14T20:00:39.085Z,1628971239.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:39.085Z,1628971239.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:39.087Z,1628971239.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:39.493Z,1628971239.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:39.885Z,1628971239.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,006E2,186,80,80,95,FF
2021-08-14T20:00:39.886Z,1628971239.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:40.338Z,1628971240.338 [Micromodem](INFO): Nmea in: $SNTTA,0.129762,,,,200041.08*46

2021-08-14T20:00:40.573Z,1628971240.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 319.447292 deg, deltaT: 4.129317 s, approachRate: -28.595533 m/s, LOS rate: 1.529997 deg/s, posRepo size: 4
2021-08-14T20:00:40.577Z,1628971240.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.219994 m,
      bearing: 319.447292 deg,
      approachRate: -28.595533 m/s,
      LOS rate: 1.529997 deg/s,
      cmd update: 6.119988 deg/s,
      cmd heading: 313.425087 deg,
      new cmd heading: 311.561480 deg.

2021-08-14T20:00:42.461Z,1628971242.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:42.809Z,1628971242.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:42.809Z,1628971242.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:42.809Z,1628971242.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:42.810Z,1628971242.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:43.222Z,1628971243.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,006E2,186,80,80,95,FF
2021-08-14T20:00:43.222Z,1628971243.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:43.222Z,1628971243.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:43.224Z,1628971243.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:43.637Z,1628971243.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:44.468Z,1628971244.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00E2D,184,80,80,83,FF
2021-08-14T20:00:44.469Z,1628971244.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:44.472Z,1628971244.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200045.22*5D

2021-08-14T20:00:45.121Z,1628971245.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.240005 m, bearing: 318.642941 deg, deltaT: 4.615826 s, approachRate: 24.268682 m/s, LOS rate: -0.174259 deg/s, posRepo size: 4
2021-08-14T20:00:45.123Z,1628971245.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.240005 m,
      bearing: 318.642941 deg,
      approachRate: 24.268682 m/s,
      LOS rate: -0.174259 deg/s,
      cmd update: -0.697037 deg/s,
      cmd heading: 341.673399 deg,
      new cmd heading: 345.134417 deg.

2021-08-14T20:00:47.334Z,1628971247.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:47.569Z,1628971247.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:47.569Z,1628971247.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:47.569Z,1628971247.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:47.570Z,1628971247.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:47.984Z,1628971247.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00E2D,184,80,80,83,FF
2021-08-14T20:00:47.984Z,1628971247.984 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:47.984Z,1628971247.984 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:47.994Z,1628971247.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:48.377Z,1628971248.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:48.795Z,1628971248.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00E2D,184,80,80,83,FF
2021-08-14T20:00:48.795Z,1628971248.795 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:49.189Z,1628971249.189 [Micromodem](INFO): Nmea in: $SNTTA,0.434567,0.395873,,,200049.99*55

2021-08-14T20:00:49.240Z,1628971249.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.240005 m, bearing: 325.966106 deg, deltaT: 4.259719 s, approachRate: 0.000000 m/s, LOS rate: 1.719166 deg/s, posRepo size: 4
2021-08-14T20:00:49.242Z,1628971249.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.240005 m,
      bearing: 325.966106 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.719166 deg/s,
      cmd update: 6.876665 deg/s,
      cmd heading: 338.702358 deg,
      new cmd heading: 338.408321 deg.

2021-08-14T20:00:51.527Z,1628971251.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:51.708Z,1628971251.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:51.708Z,1628971251.708 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:51.708Z,1628971251.708 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:51.709Z,1628971251.709 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:52.105Z,1628971252.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00E2D,184,80,80,83,FF
2021-08-14T20:00:52.105Z,1628971252.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:52.105Z,1628971252.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:52.107Z,1628971252.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:52.508Z,1628971252.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:52.902Z,1628971252.902 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T20:00:53.321Z,1628971253.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,00DC4,185,80,80,C0,FF
2021-08-14T20:00:53.321Z,1628971253.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:00:53.325Z,1628971253.325 [Micromodem](INFO): Nmea in: $SNTTA,0.378186,0.376554,,,200054.10*59

2021-08-14T20:00:53.535Z,1628971253.535 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761300000005D00000400260000000000000000151D80030C5669C08C79986D68C1A0D5C04F5C3878C1AF92C434A140318E812EC7BB8AAD3600
2021-08-14T20:00:53.535Z,1628971253.535 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T20:00:54.157Z,1628971254.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.939987 m, bearing: 320.748853 deg, deltaT: 5.009795 s, approachRate: -1.257540 m/s, LOS rate: -1.041411 deg/s, posRepo size: 4
2021-08-14T20:00:54.159Z,1628971254.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.939987 m,
      bearing: 320.748853 deg,
      approachRate: -1.257540 m/s,
      LOS rate: -1.041411 deg/s,
      cmd update: -4.165642 deg/s,
      cmd heading: 13.160672 deg,
      new cmd heading: 15.412381 deg.

2021-08-14T20:00:54.940Z,1628971254.940 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T20:00:55.341Z,1628971255.341 [Micromodem](INFO): Nmea in: $CADRQ,200055,1,10,0,64,1*74

2021-08-14T20:00:55.341Z,1628971255.341 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761300000005D00000400260000000000000000151D80030C5669C08C79986D68C1A0D5C04F5C3878C1AF92C434A140318E812EC7BB8AAD3600*37

2021-08-14T20:00:55.749Z,1628971255.749 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T20:00:56.142Z,1628971256.142 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T20:00:56.562Z,1628971256.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:00:56.944Z,1628971256.944 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:00:56.944Z,1628971256.944 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:00:56.944Z,1628971256.944 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:00:56.945Z,1628971256.945 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:00:57.365Z,1628971257.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,00DC4,185,80,80,C0,FF
2021-08-14T20:00:57.366Z,1628971257.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:00:57.366Z,1628971257.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:00:57.367Z,1628971257.367 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T20:00:57.368Z,1628971257.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:00:57.757Z,1628971257.757 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,200057.352439,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-14T20:00:57.757Z,1628971257.757 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,200057.352439,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-14T20:00:58.172Z,1628971258.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:00:58.578Z,1628971258.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200059.36*55

2021-08-14T20:00:59.415Z,1628971259.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:01.053Z,1628971261.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,C0,FF
2021-08-14T20:01:01.054Z,1628971261.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,C0,FF
2021-08-14T20:01:01.054Z,1628971261.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:01:02.291Z,1628971262.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:02.637Z,1628971262.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:02.637Z,1628971262.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:02.637Z,1628971262.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:02.638Z,1628971262.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:03.057Z,1628971263.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,C0,FF
2021-08-14T20:01:03.057Z,1628971263.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:03.057Z,1628971263.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:03.059Z,1628971263.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:03.443Z,1628971263.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:04.285Z,1628971264.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200105.05*5D

2021-08-14T20:01:05.156Z,1628971265.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:06.821Z,1628971266.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,C0,FF
2021-08-14T20:01:06.821Z,1628971266.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,C0,FF
2021-08-14T20:01:06.821Z,1628971266.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:01:07.674Z,1628971267.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:08.029Z,1628971268.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:08.029Z,1628971268.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:08.029Z,1628971268.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:08.030Z,1628971268.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:08.434Z,1628971268.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,C0,FF
2021-08-14T20:01:08.434Z,1628971268.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:08.434Z,1628971268.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:08.437Z,1628971268.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:08.832Z,1628971268.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:09.245Z,1628971269.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00D28,185,80,80,C0,FF
2021-08-14T20:01:09.246Z,1628971269.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:09.266Z,1628971269.266 [Micromodem](INFO): Nmea in: $SNTTA,0.111971,0.174189,,,200110.43*57

2021-08-14T20:01:09.672Z,1628971269.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.580002 m, bearing: 320.665934 deg, deltaT: 15.554234 s, approachRate: -0.601764 m/s, LOS rate: -0.005331 deg/s, posRepo size: 4
2021-08-14T20:01:09.674Z,1628971269.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 320.665934 deg,
      approachRate: -0.601764 m/s,
      LOS rate: -0.005331 deg/s,
      cmd update: -0.021324 deg/s,
      cmd heading: 308.383031 deg,
      new cmd heading: 307.165305 deg.

2021-08-14T20:01:12.214Z,1628971272.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:12.545Z,1628971272.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:12.545Z,1628971272.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:12.545Z,1628971272.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:12.546Z,1628971272.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:12.949Z,1628971272.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,00D28,185,80,80,C0,FF
2021-08-14T20:01:12.949Z,1628971272.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:12.950Z,1628971272.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:12.961Z,1628971272.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:13.619Z,1628971273.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:14.017Z,1628971274.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00CF8,183,80,80,B5,FF
2021-08-14T20:01:14.017Z,1628971274.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:14.438Z,1628971274.438 [Micromodem](INFO): Nmea in: $SNTTA,0.109915,,,,200114.95*4F

2021-08-14T20:01:14.509Z,1628971274.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.699997 m, bearing: 320.534549 deg, deltaT: 4.683941 s, approachRate: -0.614868 m/s, LOS rate: -0.028050 deg/s, posRepo size: 4
2021-08-14T20:01:14.511Z,1628971274.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.699997 m,
      bearing: 320.534549 deg,
      approachRate: -0.614868 m/s,
      LOS rate: -0.028050 deg/s,
      cmd update: -0.112201 deg/s,
      cmd heading: 308.283156 deg,
      new cmd heading: 308.273649 deg.

2021-08-14T20:01:16.897Z,1628971276.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:17.284Z,1628971277.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:17.284Z,1628971277.284 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:17.285Z,1628971277.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:17.287Z,1628971277.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:17.725Z,1628971277.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00CF8,183,80,80,B5,FF
2021-08-14T20:01:17.725Z,1628971277.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:17.725Z,1628971277.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:17.727Z,1628971277.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:18.125Z,1628971278.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:18.529Z,1628971278.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFC,000,00CCA,183,80,80,B5,FF
2021-08-14T20:01:18.530Z,1628971278.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:18.973Z,1628971278.973 [Micromodem](INFO): Nmea in: $SNTTA,0.108062,,,,200119.72*43

2021-08-14T20:01:19.066Z,1628971279.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.940002 m, bearing: 321.297481 deg, deltaT: 4.555668 s, approachRate: -0.605838 m/s, LOS rate: 0.167469 deg/s, posRepo size: 4
2021-08-14T20:01:19.068Z,1628971279.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.940002 m,
      bearing: 321.297481 deg,
      approachRate: -0.605838 m/s,
      LOS rate: 0.167469 deg/s,
      cmd update: 0.669875 deg/s,
      cmd heading: 307.772069 deg,
      new cmd heading: 307.721843 deg.

2021-08-14T20:01:21.442Z,1628971281.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:21.757Z,1628971281.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:21.757Z,1628971281.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:21.757Z,1628971281.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:21.758Z,1628971281.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:22.161Z,1628971282.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFC,000,00CCA,183,80,80,B5,FF
2021-08-14T20:01:22.161Z,1628971282.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:22.162Z,1628971282.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:22.163Z,1628971282.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:22.565Z,1628971282.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:23.001Z,1628971283.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00C9E,187,80,80,AA,FF
2021-08-14T20:01:23.002Z,1628971283.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:23.417Z,1628971283.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200124.16*5C

2021-08-14T20:01:23.483Z,1628971283.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.300003 m, bearing: 322.716985 deg, deltaT: 4.471677 s, approachRate: -0.590382 m/s, LOS rate: 0.317443 deg/s, posRepo size: 4
2021-08-14T20:01:23.485Z,1628971283.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 322.716985 deg,
      approachRate: -0.590382 m/s,
      LOS rate: 0.317443 deg/s,
      cmd update: 1.269774 deg/s,
      cmd heading: 310.768061 deg,
      new cmd heading: 311.030679 deg.

2021-08-14T20:01:26.039Z,1628971286.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:26.247Z,1628971286.247 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:26.262Z,1628971286.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:26.263Z,1628971286.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:26.286Z,1628971286.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:26.647Z,1628971286.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00C9E,187,80,80,AA,FF
2021-08-14T20:01:26.647Z,1628971286.647 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:26.647Z,1628971286.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:26.649Z,1628971286.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:27.076Z,1628971287.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:27.462Z,1628971287.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00C6F,186,80,80,BA,FF
2021-08-14T20:01:27.463Z,1628971287.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:27.881Z,1628971287.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200128.64*55

2021-08-14T20:01:27.922Z,1628971287.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.480011 m, bearing: 321.972303 deg, deltaT: 4.421759 s, approachRate: -0.637753 m/s, LOS rate: -0.168413 deg/s, posRepo size: 4
2021-08-14T20:01:27.924Z,1628971287.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.480011 m,
      bearing: 321.972303 deg,
      approachRate: -0.637753 m/s,
      LOS rate: -0.168413 deg/s,
      cmd update: -0.673652 deg/s,
      cmd heading: 316.387495 deg,
      new cmd heading: 316.902556 deg.

2021-08-14T20:01:30.551Z,1628971290.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:30.729Z,1628971290.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:30.729Z,1628971290.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:30.729Z,1628971290.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:30.730Z,1628971290.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:31.129Z,1628971291.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00C6F,186,80,80,BA,FF
2021-08-14T20:01:31.129Z,1628971291.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:31.129Z,1628971291.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:31.131Z,1628971291.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:31.551Z,1628971291.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:31.946Z,1628971291.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,00C43,187,80,80,A3,FF
2021-08-14T20:01:31.946Z,1628971291.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:32.393Z,1628971292.393 [Micromodem](INFO): Nmea in: $SNTTA,0.126357,,,,200133.13*45

2021-08-14T20:01:32.627Z,1628971292.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.839996 m, bearing: 323.830579 deg, deltaT: 4.503350 s, approachRate: -0.586233 m/s, LOS rate: 0.412643 deg/s, posRepo size: 4
2021-08-14T20:01:32.647Z,1628971292.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.839996 m,
      bearing: 323.830579 deg,
      approachRate: -0.586233 m/s,
      LOS rate: 0.412643 deg/s,
      cmd update: 1.650572 deg/s,
      cmd heading: 313.364502 deg,
      new cmd heading: 312.945021 deg.

2021-08-14T20:01:34.566Z,1628971294.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:34.927Z,1628971294.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:34.927Z,1628971294.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:34.927Z,1628971294.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:34.928Z,1628971294.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:35.337Z,1628971295.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,00C43,187,80,80,A3,FF
2021-08-14T20:01:35.337Z,1628971295.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:35.337Z,1628971295.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:35.339Z,1628971295.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:35.522Z,1628971295.522 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:01:35.732Z,1628971295.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:36.142Z,1628971296.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00C1B,186,80,80,A3,FF
2021-08-14T20:01:36.142Z,1628971296.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:36.577Z,1628971296.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200137.33*59

2021-08-14T20:01:36.830Z,1628971296.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.440002 m, bearing: 326.015393 deg, deltaT: 4.169819 s, approachRate: -0.575563 m/s, LOS rate: 0.523959 deg/s, posRepo size: 4
2021-08-14T20:01:36.837Z,1628971296.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.440002 m,
      bearing: 326.015393 deg,
      approachRate: -0.575563 m/s,
      LOS rate: 0.523959 deg/s,
      cmd update: 2.095835 deg/s,
      cmd heading: 320.260805 deg,
      new cmd heading: 321.331612 deg.

2021-08-14T20:01:38.931Z,1628971298.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:39.130Z,1628971299.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:39.130Z,1628971299.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:39.130Z,1628971299.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:39.131Z,1628971299.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:39.533Z,1628971299.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00C1B,186,80,80,A3,FF
2021-08-14T20:01:39.533Z,1628971299.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:39.534Z,1628971299.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:39.535Z,1628971299.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:39.943Z,1628971299.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:40.361Z,1628971300.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00BF2,187,80,80,BB,FF
2021-08-14T20:01:40.362Z,1628971300.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:40.881Z,1628971300.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200141.53*5E

2021-08-14T20:01:40.949Z,1628971300.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.979996 m, bearing: 325.478485 deg, deltaT: 4.231128 s, approachRate: -0.581407 m/s, LOS rate: -0.126895 deg/s, posRepo size: 4
2021-08-14T20:01:40.953Z,1628971300.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 325.478485 deg,
      approachRate: -0.581407 m/s,
      LOS rate: -0.126895 deg/s,
      cmd update: -0.507579 deg/s,
      cmd heading: 329.127390 deg,
      new cmd heading: 330.251295 deg.

2021-08-14T20:01:42.928Z,1628971302.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:43.299Z,1628971303.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:43.299Z,1628971303.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:43.299Z,1628971303.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:43.300Z,1628971303.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:43.785Z,1628971303.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00BF2,187,80,80,BB,FF
2021-08-14T20:01:43.785Z,1628971303.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:43.785Z,1628971303.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:43.787Z,1628971303.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:44.180Z,1628971304.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:44.586Z,1628971304.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00BC2,184,80,80,AF,FF
2021-08-14T20:01:44.586Z,1628971304.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:45.045Z,1628971305.045 [Micromodem](INFO): Nmea in: $SNTTA,0.097559,,,,200145.78*4A

2021-08-14T20:01:45.103Z,1628971305.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.099991 m, bearing: 324.932453 deg, deltaT: 4.243464 s, approachRate: -0.678692 m/s, LOS rate: -0.128676 deg/s, posRepo size: 4
2021-08-14T20:01:45.105Z,1628971305.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.099991 m,
      bearing: 324.932453 deg,
      approachRate: -0.678692 m/s,
      LOS rate: -0.128676 deg/s,
      cmd update: -0.514705 deg/s,
      cmd heading: 326.971197 deg,
      new cmd heading: 326.746555 deg.

2021-08-14T20:01:47.488Z,1628971307.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:47.845Z,1628971307.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:47.845Z,1628971307.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:47.845Z,1628971307.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:47.846Z,1628971307.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:48.269Z,1628971308.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00BC2,184,80,80,AF,FF
2021-08-14T20:01:48.269Z,1628971308.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:48.270Z,1628971308.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:48.293Z,1628971308.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:48.661Z,1628971308.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:49.070Z,1628971309.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00B94,184,80,80,AF,FF
2021-08-14T20:01:49.070Z,1628971309.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:49.491Z,1628971309.491 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200150.29*53

2021-08-14T20:01:49.548Z,1628971309.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.340012 m, bearing: 326.035747 deg, deltaT: 4.469924 s, approachRate: -0.617456 m/s, LOS rate: 0.246826 deg/s, posRepo size: 4
2021-08-14T20:01:49.550Z,1628971309.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.340012 m,
      bearing: 326.035747 deg,
      approachRate: -0.617456 m/s,
      LOS rate: 0.246826 deg/s,
      cmd update: 0.987305 deg/s,
      cmd heading: 324.668558 deg,
      new cmd heading: 324.455552 deg.

2021-08-14T20:01:52.202Z,1628971312.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:52.377Z,1628971312.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:52.377Z,1628971312.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:52.377Z,1628971312.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:52.378Z,1628971312.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:52.777Z,1628971312.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00B94,184,80,80,AF,FF
2021-08-14T20:01:52.777Z,1628971312.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:52.777Z,1628971312.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:52.779Z,1628971312.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:53.187Z,1628971313.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:53.581Z,1628971313.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00B69,183,80,80,C3,FF
2021-08-14T20:01:53.581Z,1628971313.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:54.022Z,1628971314.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200154.77*5C

2021-08-14T20:01:54.041Z,1628971314.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.759995 m, bearing: 327.261301 deg, deltaT: 4.489180 s, approachRate: -0.574719 m/s, LOS rate: 0.273002 deg/s, posRepo size: 4
2021-08-14T20:01:54.047Z,1628971314.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.759995 m,
      bearing: 327.261301 deg,
      approachRate: -0.574719 m/s,
      LOS rate: 0.273002 deg/s,
      cmd update: 1.092007 deg/s,
      cmd heading: 329.100698 deg,
      new cmd heading: 329.512311 deg.

2021-08-14T20:01:56.659Z,1628971316.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:01:56.813Z,1628971316.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:01:56.813Z,1628971316.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:01:56.813Z,1628971316.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:01:56.814Z,1628971316.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:01:57.213Z,1628971317.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00B69,183,80,80,C3,FF
2021-08-14T20:01:57.213Z,1628971317.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:01:57.214Z,1628971317.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:01:57.215Z,1628971317.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:01:57.632Z,1628971317.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:01:58.033Z,1628971318.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00B38,184,80,80,95,FF
2021-08-14T20:01:58.034Z,1628971318.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:01:58.481Z,1628971318.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200159.21*52

2021-08-14T20:01:58.721Z,1628971318.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.820007 m, bearing: 325.860484 deg, deltaT: 4.468434 s, approachRate: -0.657946 m/s, LOS rate: -0.313492 deg/s, posRepo size: 4
2021-08-14T20:01:58.723Z,1628971318.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.820007 m,
      bearing: 325.860484 deg,
      approachRate: -0.657946 m/s,
      LOS rate: -0.313492 deg/s,
      cmd update: -1.253967 deg/s,
      cmd heading: 333.980356 deg,
      new cmd heading: 334.666809 deg.

2021-08-14T20:01:59.013Z,1628971319.013 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T20:01:59.618Z,1628971319.618 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761300000005D00000400260000000000000000151D80030C5669C08C79986D68C1A0D5C04F5C3878C1AF92C434A140318E812EC7BB8AAD3600
2021-08-14T20:01:59.618Z,1628971319.618 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T20:01:59.877Z,1628971319.877 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T20:02:00.325Z,1628971320.325 [Micromodem](INFO): Nmea in: $CADRQ,200201,1,10,0,64,1*77

2021-08-14T20:02:00.325Z,1628971320.325 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761300000005D00000400260000000000000000151D80030C5669C08C79986D68C1A0D5C04F5C3878C1AF92C434A140318E812EC7BB8AAD3600*37

2021-08-14T20:02:00.666Z,1628971320.666 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T20:02:00.742Z,1628971320.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:01.082Z,1628971321.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:01.083Z,1628971321.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:01.083Z,1628971321.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:01.084Z,1628971321.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:01.089Z,1628971321.089 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T20:02:01.489Z,1628971321.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00B38,184,80,80,95,FF
2021-08-14T20:02:01.489Z,1628971321.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:01.489Z,1628971321.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:01.491Z,1628971321.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:02.329Z,1628971322.329 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T20:02:02.330Z,1628971322.330 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T20:02:02.705Z,1628971322.705 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,200202.338082,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T20:02:02.705Z,1628971322.705 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,200202.338082,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T20:02:03.409Z,1628971323.409 [CTD_Seabird](ERROR): Failed to parse device response: .1994,4.79129,4868.32
2021-08-14T20:02:03.578Z,1628971323.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:04.363Z,1628971324.363 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T20:02:04.365Z,1628971324.365 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T171856/Courier0048.lzma.parts
2021-08-14T20:02:04.366Z,1628971324.366 [Micromodem](INFO): Packets left to send: 0
2021-08-14T20:02:04.750Z,1628971324.750 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814200205.335571,06,24478,43,0151,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,14.9,7.77,17,-4.77,-01,-0.90,50,14500,4000*49

2021-08-14T20:02:04.750Z,1628971324.750 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814200205.335571,06,24478,43,0151,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,14.9,7.77,17,-4.77,-01,-0.90,50,14500,4000*49

2021-08-14T20:02:05.603Z,1628971325.603 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T20:02:05.603Z,1628971325.603 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T20:02:05.603Z,1628971325.603 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T20:02:05.603Z,1628971325.603 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T20:02:05.604Z,1628971325.604 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T20:02:06.333Z,1628971326.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:07.472Z,1628971327.472 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.388425
2021-08-14T20:02:09.107Z,1628971329.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:09.493Z,1628971329.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:09.493Z,1628971329.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:09.493Z,1628971329.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:09.494Z,1628971329.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:09.873Z,1628971329.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00B38,184,80,80,95,FF
2021-08-14T20:02:09.873Z,1628971329.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:09.873Z,1628971329.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:11.965Z,1628971331.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:12.709Z,1628971332.709 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:13.135Z,1628971333.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:13.525Z,1628971333.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00A9A,186,80,80,AE,FF
2021-08-14T20:02:13.526Z,1628971333.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:13.953Z,1628971333.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.340004 m, bearing: 330.586921 deg, deltaT: 15.536004 s, approachRate: -0.610196 m/s, LOS rate: 0.304225 deg/s, posRepo size: 4
2021-08-14T20:02:13.955Z,1628971333.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.340004 m,
      bearing: 330.586921 deg,
      approachRate: -0.610196 m/s,
      LOS rate: 0.304225 deg/s,
      cmd update: 1.216899 deg/s,
      cmd heading: 314.512343 deg,
      new cmd heading: 314.091464 deg.

2021-08-14T20:02:16.386Z,1628971336.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:16.745Z,1628971336.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:16.746Z,1628971336.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:16.746Z,1628971336.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:16.747Z,1628971336.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:17.145Z,1628971337.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00A9A,186,80,80,AE,FF
2021-08-14T20:02:17.145Z,1628971337.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:17.145Z,1628971337.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:17.147Z,1628971337.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:17.552Z,1628971337.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:17.962Z,1628971337.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00A6C,187,80,80,A4,FF
2021-08-14T20:02:17.962Z,1628971337.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:18.393Z,1628971338.393 [Micromodem](INFO): Nmea in: $SNTTA,0.081475,,,,200219.14*42

2021-08-14T20:02:18.462Z,1628971338.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.580002 m, bearing: 332.085382 deg, deltaT: 4.356312 s, approachRate: -0.633564 m/s, LOS rate: 0.343975 deg/s, posRepo size: 4
2021-08-14T20:02:18.470Z,1628971338.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.580002 m,
      bearing: 332.085382 deg,
      approachRate: -0.633564 m/s,
      LOS rate: 0.343975 deg/s,
      cmd update: 1.375899 deg/s,
      cmd heading: 319.826984 deg,
      new cmd heading: 320.401919 deg.

2021-08-14T20:02:21.070Z,1628971341.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:21.313Z,1628971341.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:21.313Z,1628971341.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:21.313Z,1628971341.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:21.314Z,1628971341.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:21.685Z,1628971341.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00A6C,187,80,80,A4,FF
2021-08-14T20:02:21.685Z,1628971341.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:21.685Z,1628971341.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:21.687Z,1628971341.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:22.085Z,1628971342.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:22.497Z,1628971342.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00A3C,186,80,80,B5,FF
2021-08-14T20:02:22.497Z,1628971342.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:22.929Z,1628971342.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200223.68*51

2021-08-14T20:02:23.049Z,1628971343.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.700005 m, bearing: 331.151504 deg, deltaT: 4.574640 s, approachRate: -0.629557 m/s, LOS rate: -0.204142 deg/s, posRepo size: 4
2021-08-14T20:02:23.054Z,1628971343.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 331.151504 deg,
      approachRate: -0.629557 m/s,
      LOS rate: -0.204142 deg/s,
      cmd update: -0.816570 deg/s,
      cmd heading: 326.115368 deg,
      new cmd heading: 326.788660 deg.

2021-08-14T20:02:25.407Z,1628971345.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:25.721Z,1628971345.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:25.721Z,1628971345.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:25.721Z,1628971345.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:25.722Z,1628971345.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:26.126Z,1628971346.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00A3C,186,80,80,B5,FF
2021-08-14T20:02:26.126Z,1628971346.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:26.126Z,1628971346.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:26.129Z,1628971346.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:26.541Z,1628971346.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:26.951Z,1628971346.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00A0A,185,80,80,7E,FF
2021-08-14T20:02:26.953Z,1628971346.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:27.360Z,1628971347.360 [Micromodem](INFO): Nmea in: $SNTTA,0.368533,0.368514,,,200228.12*52

2021-08-14T20:02:27.434Z,1628971347.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.699997 m, bearing: 328.638431 deg, deltaT: 4.497266 s, approachRate: -0.667074 m/s, LOS rate: -0.558800 deg/s, posRepo size: 4
2021-08-14T20:02:27.441Z,1628971347.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.699997 m,
      bearing: 328.638431 deg,
      approachRate: -0.667074 m/s,
      LOS rate: -0.558800 deg/s,
      cmd update: -2.235200 deg/s,
      cmd heading: 322.462082 deg,
      new cmd heading: 322.135281 deg.

2021-08-14T20:02:29.786Z,1628971349.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:30.157Z,1628971350.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:30.157Z,1628971350.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:30.157Z,1628971350.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:30.158Z,1628971350.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:30.581Z,1628971350.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00A0A,185,80,80,7E,FF
2021-08-14T20:02:30.581Z,1628971350.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:30.581Z,1628971350.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:30.583Z,1628971350.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:30.987Z,1628971350.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:31.373Z,1628971351.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,009D8,186,80,80,97,FF
2021-08-14T20:02:31.374Z,1628971351.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:31.377Z,1628971351.377 [Micromodem](INFO): Nmea in: $SNTTA,0.137993,0.138168,,,200232.58*51

2021-08-14T20:02:31.812Z,1628971351.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 332.918529 deg, deltaT: 4.350644 s, approachRate: -0.689551 m/s, LOS rate: 0.983785 deg/s, posRepo size: 4
2021-08-14T20:02:31.814Z,1628971351.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 332.918529 deg,
      approachRate: -0.689551 m/s,
      LOS rate: 0.983785 deg/s,
      cmd update: 3.935139 deg/s,
      cmd heading: 312.675851 deg,
      new cmd heading: 311.770318 deg.

2021-08-14T20:02:34.232Z,1628971354.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:34.620Z,1628971354.620 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:34.620Z,1628971354.620 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:34.620Z,1628971354.620 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:34.621Z,1628971354.621 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:35.045Z,1628971355.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,009D8,186,80,80,97,FF
2021-08-14T20:02:35.045Z,1628971355.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:35.045Z,1628971355.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:35.047Z,1628971355.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:35.428Z,1628971355.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:35.873Z,1628971355.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,009AA,186,80,80,7C,FF
2021-08-14T20:02:35.874Z,1628971355.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:35.913Z,1628971355.913 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T20:02:36.262Z,1628971356.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200237.04*5E

2021-08-14T20:02:36.316Z,1628971356.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.939995 m, bearing: 334.413165 deg, deltaT: 4.548476 s, approachRate: -0.606799 m/s, LOS rate: 0.328602 deg/s, posRepo size: 4
2021-08-14T20:02:36.318Z,1628971356.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.939995 m,
      bearing: 334.413165 deg,
      approachRate: -0.606799 m/s,
      LOS rate: 0.328602 deg/s,
      cmd update: 1.314407 deg/s,
      cmd heading: 330.479052 deg,
      new cmd heading: 331.993490 deg.

2021-08-14T20:02:38.673Z,1628971358.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:39.057Z,1628971359.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:39.057Z,1628971359.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:39.057Z,1628971359.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:39.058Z,1628971359.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:39.450Z,1628971359.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,009AA,186,80,80,7C,FF
2021-08-14T20:02:39.450Z,1628971359.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:39.450Z,1628971359.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:39.453Z,1628971359.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:39.856Z,1628971359.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:40.293Z,1628971360.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,00977,184,80,80,AF,FF
2021-08-14T20:02:40.294Z,1628971360.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:40.709Z,1628971360.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200241.45*5A

2021-08-14T20:02:40.753Z,1628971360.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.879997 m, bearing: 331.043997 deg, deltaT: 4.405085 s, approachRate: -0.694651 m/s, LOS rate: -0.764836 deg/s, posRepo size: 4
2021-08-14T20:02:40.755Z,1628971360.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.879997 m,
      bearing: 331.043997 deg,
      approachRate: -0.694651 m/s,
      LOS rate: -0.764836 deg/s,
      cmd update: -3.059345 deg/s,
      cmd heading: 336.295561 deg,
      new cmd heading: 336.816860 deg.

2021-08-14T20:02:43.138Z,1628971363.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:43.501Z,1628971363.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:43.501Z,1628971363.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:43.501Z,1628971363.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:43.502Z,1628971363.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:43.897Z,1628971363.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00977,184,80,80,AF,FF
2021-08-14T20:02:43.898Z,1628971363.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:43.898Z,1628971363.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:43.900Z,1628971363.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:44.337Z,1628971364.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:44.701Z,1628971364.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00946,186,80,80,B1,FF
2021-08-14T20:02:44.702Z,1628971364.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:45.137Z,1628971365.137 [Micromodem](INFO): Nmea in: $SNTTA,,0.481348,,,200245.89*42

2021-08-14T20:02:45.218Z,1628971365.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 329.808279 deg, deltaT: 4.359559 s, approachRate: -0.674381 m/s, LOS rate: -0.283450 deg/s, posRepo size: 4
2021-08-14T20:02:45.227Z,1628971365.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.939995 m,
      bearing: 329.808279 deg,
      approachRate: -0.674381 m/s,
      LOS rate: -0.283450 deg/s,
      cmd update: -1.133801 deg/s,
      cmd heading: 322.945431 deg,
      new cmd heading: 321.420094 deg.

2021-08-14T20:02:47.572Z,1628971367.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:47.933Z,1628971367.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:47.933Z,1628971367.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:47.933Z,1628971367.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:47.934Z,1628971367.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:48.337Z,1628971368.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00946,186,80,80,B1,FF
2021-08-14T20:02:48.337Z,1628971368.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:48.337Z,1628971368.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:48.339Z,1628971368.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:48.744Z,1628971368.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:49.153Z,1628971369.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00916,187,80,80,AC,FF
2021-08-14T20:02:49.154Z,1628971369.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:49.157Z,1628971369.157 [Micromodem](INFO): Nmea in: $SNTTA,0.222056,0.262337,,,200250.33*5B

2021-08-14T20:02:49.595Z,1628971369.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.059998 m, bearing: 335.955012 deg, deltaT: 4.565345 s, approachRate: -0.630839 m/s, LOS rate: 1.346390 deg/s, posRepo size: 4
2021-08-14T20:02:49.613Z,1628971369.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.059998 m,
      bearing: 335.955012 deg,
      approachRate: -0.630839 m/s,
      LOS rate: 1.346390 deg/s,
      cmd update: 5.385558 deg/s,
      cmd heading: 317.780346 deg,
      new cmd heading: 317.418536 deg.

2021-08-14T20:02:52.035Z,1628971372.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:52.385Z,1628971372.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:52.385Z,1628971372.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:52.385Z,1628971372.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:52.386Z,1628971372.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:52.794Z,1628971372.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00916,187,80,80,AC,FF
2021-08-14T20:02:52.794Z,1628971372.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:52.794Z,1628971372.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:52.796Z,1628971372.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:53.193Z,1628971373.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:53.587Z,1628971373.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,008E3,186,80,80,9F,FF
2021-08-14T20:02:53.589Z,1628971373.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:54.029Z,1628971374.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200254.79*51

2021-08-14T20:02:54.062Z,1628971374.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.000000 m, bearing: 336.310045 deg, deltaT: 4.323102 s, approachRate: -0.707825 m/s, LOS rate: 0.082125 deg/s, posRepo size: 4
2021-08-14T20:02:54.065Z,1628971374.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.000000 m,
      bearing: 336.310045 deg,
      approachRate: -0.707825 m/s,
      LOS rate: 0.082125 deg/s,
      cmd update: 0.328499 deg/s,
      cmd heading: 341.115443 deg,
      new cmd heading: 343.561548 deg.

2021-08-14T20:02:56.493Z,1628971376.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:02:56.821Z,1628971376.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:02:56.821Z,1628971376.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:02:56.821Z,1628971376.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:02:56.822Z,1628971376.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:02:57.237Z,1628971377.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,008E3,186,80,80,9F,FF
2021-08-14T20:02:57.237Z,1628971377.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:02:57.237Z,1628971377.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:02:57.240Z,1628971377.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:02:57.291Z,1628971377.291 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:02:57.722Z,1628971377.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:02:58.133Z,1628971378.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,008B1,185,80,80,AD,FF
2021-08-14T20:02:58.133Z,1628971378.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:02:58.545Z,1628971378.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200259.24*54

2021-08-14T20:02:58.571Z,1628971378.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.000008 m, bearing: 333.982645 deg, deltaT: 4.541735 s, approachRate: -0.660539 m/s, LOS rate: -0.512447 deg/s, posRepo size: 4
2021-08-14T20:02:58.573Z,1628971378.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.000008 m,
      bearing: 333.982645 deg,
      approachRate: -0.660539 m/s,
      LOS rate: -0.512447 deg/s,
      cmd update: -2.049790 deg/s,
      cmd heading: 342.607414 deg,
      new cmd heading: 342.745761 deg.

2021-08-14T20:03:01.026Z,1628971381.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:01.352Z,1628971381.352 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:01.352Z,1628971381.352 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:01.353Z,1628971381.353 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:01.353Z,1628971381.353 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:01.760Z,1628971381.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,008B1,185,80,80,AD,FF
2021-08-14T20:03:01.761Z,1628971381.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:01.761Z,1628971381.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:01.763Z,1628971381.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:02.169Z,1628971382.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:02.558Z,1628971382.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,118,000,0087C,185,80,80,AC,FF
2021-08-14T20:03:02.558Z,1628971382.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:03.035Z,1628971383.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200303.75*5E

2021-08-14T20:03:03.071Z,1628971383.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.820000 m, bearing: 331.157733 deg, deltaT: 4.437797 s, approachRate: -0.716574 m/s, LOS rate: -0.636557 deg/s, posRepo size: 4
2021-08-14T20:03:03.073Z,1628971383.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.820000 m,
      bearing: 331.157733 deg,
      approachRate: -0.716574 m/s,
      LOS rate: -0.636557 deg/s,
      cmd update: -2.546229 deg/s,
      cmd heading: 333.510894 deg,
      new cmd heading: 332.520359 deg.

2021-08-14T20:03:05.449Z,1628971385.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:05.795Z,1628971385.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:05.795Z,1628971385.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:05.795Z,1628971385.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:05.798Z,1628971385.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:06.205Z,1628971386.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
118,000,0087C,185,80,80,AC,FF
2021-08-14T20:03:06.205Z,1628971386.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:06.206Z,1628971386.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:06.207Z,1628971386.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:06.607Z,1628971386.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:07.070Z,1628971387.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0084D,186,80,80,9D,FF
2021-08-14T20:03:07.070Z,1628971387.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:07.454Z,1628971387.454 [Micromodem](INFO): Nmea in: $SNTTA,,0.327833,,,200308.20*45

2021-08-14T20:03:07.495Z,1628971387.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 334.547119 deg, deltaT: 4.545449 s, approachRate: -0.620401 m/s, LOS rate: 0.745666 deg/s, posRepo size: 4
2021-08-14T20:03:07.498Z,1628971387.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.000000 m,
      bearing: 334.547119 deg,
      approachRate: -0.620401 m/s,
      LOS rate: 0.745666 deg/s,
      cmd update: 2.982663 deg/s,
      cmd heading: 321.958328 deg,
      new cmd heading: 321.014996 deg.

2021-08-14T20:03:09.854Z,1628971389.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:10.269Z,1628971390.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:10.270Z,1628971390.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:10.270Z,1628971390.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:10.280Z,1628971390.280 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:10.310Z,1628971390.310 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:03:10.649Z,1628971390.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0084D,186,80,80,9D,FF
2021-08-14T20:03:10.649Z,1628971390.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:10.649Z,1628971390.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:10.651Z,1628971390.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:11.082Z,1628971391.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:11.461Z,1628971391.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,0081D,187,80,80,AB,FF
2021-08-14T20:03:11.461Z,1628971391.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:11.891Z,1628971391.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200312.65*5F

2021-08-14T20:03:11.932Z,1628971391.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 336.571887 deg, deltaT: 4.378528 s, approachRate: -0.657755 m/s, LOS rate: 0.462431 deg/s, posRepo size: 4
2021-08-14T20:03:11.934Z,1628971391.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 336.571887 deg,
      approachRate: -0.657755 m/s,
      LOS rate: 0.462431 deg/s,
      cmd update: 1.849725 deg/s,
      cmd heading: 335.030896 deg,
      new cmd heading: 336.223892 deg.

2021-08-14T20:03:14.340Z,1628971394.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:14.677Z,1628971394.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:14.677Z,1628971394.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:14.677Z,1628971394.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:14.678Z,1628971394.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:15.102Z,1628971395.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,0081D,187,80,80,AB,FF
2021-08-14T20:03:15.102Z,1628971395.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:15.102Z,1628971395.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:15.109Z,1628971395.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:15.506Z,1628971395.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:15.909Z,1628971395.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,004BB,184,80,80,AC,FF
2021-08-14T20:03:15.909Z,1628971395.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:16.349Z,1628971396.349 [Micromodem](INFO): Nmea in: $SNTTA,0.035235,,,,200317.10*44

2021-08-14T20:03:16.375Z,1628971396.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 336.304827 deg, deltaT: 4.457197 s, approachRate: -11.657552 m/s, LOS rate: -0.059917 deg/s, posRepo size: 4
2021-08-14T20:03:16.400Z,1628971396.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.16 m.
2021-08-14T20:03:16.402Z,1628971396.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.159996 m,
      bearing: 336.304827 deg,
      approachRate: -11.657552 m/s,
      LOS rate: -0.059917 deg/s,
      cmd update: -0.239667 deg/s,
      cmd heading: 343.260072 deg,
      new cmd heading: 344.034637 deg.

2021-08-14T20:03:16.761Z,1628971396.761 [PowerOnly](INFO): Powering up loadControl
2021-08-14T20:03:16.801Z,1628971396.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:03:16.802Z,1628971396.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:03:16.802Z,1628971396.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:03:16.803Z,1628971396.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:03:16.803Z,1628971396.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:03:16.803Z,1628971396.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:03:17.172Z,1628971397.172 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:03:17.172Z,1628971397.172 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:03:17.173Z,1628971397.173 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:03:17.173Z,1628971397.173 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:03:18.771Z,1628971398.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:19.122Z,1628971399.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:19.122Z,1628971399.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:19.122Z,1628971399.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:19.123Z,1628971399.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:19.529Z,1628971399.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,004BB,184,80,80,AC,FF
2021-08-14T20:03:19.530Z,1628971399.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:19.530Z,1628971399.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:19.531Z,1628971399.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:19.937Z,1628971399.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:20.339Z,1628971400.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,007BE,186,80,80,65,FF
2021-08-14T20:03:20.341Z,1628971400.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:20.425Z,1628971400.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:03:20.786Z,1628971400.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200321.53*5A

2021-08-14T20:03:20.856Z,1628971400.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.419998 m, bearing: 333.614880 deg, deltaT: 4.453689 s, approachRate: 10.386895 m/s, LOS rate: -0.603982 deg/s, posRepo size: 4
2021-08-14T20:03:20.858Z,1628971400.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.419998 m,
      bearing: 333.614880 deg,
      approachRate: 10.386895 m/s,
      LOS rate: -0.603982 deg/s,
      cmd update: -2.415927 deg/s,
      cmd heading: 342.190789 deg,
      new cmd heading: 342.089713 deg.

2021-08-14T20:03:21.210Z,1628971401.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:03:21.210Z,1628971401.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:03:21.210Z,1628971401.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:03:21.211Z,1628971401.211 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:03:21.211Z,1628971401.211 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:03:21.211Z,1628971401.211 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:03:21.594Z,1628971401.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:03:21.594Z,1628971401.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:03:21.594Z,1628971401.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:03:21.594Z,1628971401.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:03:23.245Z,1628971403.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:23.577Z,1628971403.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:23.577Z,1628971403.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:23.577Z,1628971403.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:23.578Z,1628971403.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:23.981Z,1628971403.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,007BE,186,80,80,65,FF
2021-08-14T20:03:23.981Z,1628971403.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:23.981Z,1628971403.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:23.983Z,1628971403.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:24.384Z,1628971404.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:24.785Z,1628971404.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,0078E,186,80,80,75,FF
2021-08-14T20:03:24.786Z,1628971404.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:25.245Z,1628971405.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200325.98*59

2021-08-14T20:03:25.329Z,1628971405.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.540001 m, bearing: 333.565566 deg, deltaT: 4.400571 s, approachRate: -0.654460 m/s, LOS rate: -0.011206 deg/s, posRepo size: 4
2021-08-14T20:03:25.331Z,1628971405.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.540001 m,
      bearing: 333.565566 deg,
      approachRate: -0.654460 m/s,
      LOS rate: -0.011206 deg/s,
      cmd update: -0.044825 deg/s,
      cmd heading: 331.597552 deg,
      new cmd heading: 330.327190 deg.

2021-08-14T20:03:27.634Z,1628971407.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:28.013Z,1628971408.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:28.013Z,1628971408.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:28.013Z,1628971408.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:28.014Z,1628971408.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:28.418Z,1628971408.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,0078E,186,80,80,75,FF
2021-08-14T20:03:28.418Z,1628971408.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:28.418Z,1628971408.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:28.420Z,1628971408.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:28.836Z,1628971408.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:29.225Z,1628971409.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00762,182,80,80,6E,FF
2021-08-14T20:03:29.225Z,1628971409.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:29.689Z,1628971409.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200330.41*59

2021-08-14T20:03:29.736Z,1628971409.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 334.918763 deg, deltaT: 4.545771 s, approachRate: -0.580759 m/s, LOS rate: 0.297683 deg/s, posRepo size: 4
2021-08-14T20:03:29.743Z,1628971409.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 334.918763 deg,
      approachRate: -0.580759 m/s,
      LOS rate: 0.297683 deg/s,
      cmd update: 1.190731 deg/s,
      cmd heading: 331.393264 deg,
      new cmd heading: 331.376512 deg.

2021-08-14T20:03:32.087Z,1628971412.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:32.457Z,1628971412.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:32.458Z,1628971412.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:32.458Z,1628971412.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:32.459Z,1628971412.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:32.869Z,1628971412.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00762,182,80,80,6E,FF
2021-08-14T20:03:32.869Z,1628971412.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:32.869Z,1628971412.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:32.871Z,1628971412.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:33.294Z,1628971413.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:33.673Z,1628971413.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00733,185,80,80,BB,FF
2021-08-14T20:03:33.674Z,1628971413.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:34.105Z,1628971414.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200334.86*56

2021-08-14T20:03:34.147Z,1628971414.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 334.715032 deg, deltaT: 4.366730 s, approachRate: -0.645792 m/s, LOS rate: -0.046655 deg/s, posRepo size: 4
2021-08-14T20:03:34.150Z,1628971414.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 334.715032 deg,
      approachRate: -0.645792 m/s,
      LOS rate: -0.046655 deg/s,
      cmd update: -0.186621 deg/s,
      cmd heading: 336.603097 deg,
      new cmd heading: 337.093266 deg.

2021-08-14T20:03:36.551Z,1628971416.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:36.905Z,1628971416.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:36.905Z,1628971416.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:36.905Z,1628971416.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:36.906Z,1628971416.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:37.321Z,1628971417.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00733,185,80,80,BB,FF
2021-08-14T20:03:37.321Z,1628971417.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:37.321Z,1628971417.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:37.323Z,1628971417.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:37.715Z,1628971417.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:38.109Z,1628971418.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00707,183,80,80,B2,FF
2021-08-14T20:03:38.109Z,1628971418.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:38.553Z,1628971418.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200339.32*54

2021-08-14T20:03:38.612Z,1628971418.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 334.236974 deg, deltaT: 4.426929 s, approachRate: -0.596350 m/s, LOS rate: -0.107989 deg/s, posRepo size: 4
2021-08-14T20:03:38.614Z,1628971418.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 334.236974 deg,
      approachRate: -0.596350 m/s,
      LOS rate: -0.107989 deg/s,
      cmd update: -0.431955 deg/s,
      cmd heading: 335.777688 deg,
      new cmd heading: 335.697571 deg.

2021-08-14T20:03:41.021Z,1628971421.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:41.347Z,1628971421.347 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:41.347Z,1628971421.347 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:41.347Z,1628971421.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:41.348Z,1628971421.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:41.745Z,1628971421.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00707,183,80,80,B2,FF
2021-08-14T20:03:41.745Z,1628971421.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:41.745Z,1628971421.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:41.747Z,1628971421.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:42.160Z,1628971422.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:42.558Z,1628971422.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,006DA,184,80,80,8C,FF
2021-08-14T20:03:42.558Z,1628971422.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:43.033Z,1628971423.033 [Micromodem](INFO): Nmea in: $SNTTA,0.053463,,,,200343.74*42

2021-08-14T20:03:43.069Z,1628971423.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 335.678581 deg, deltaT: 4.425624 s, approachRate: -0.610083 m/s, LOS rate: 0.325741 deg/s, posRepo size: 4
2021-08-14T20:03:43.071Z,1628971423.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.740005 m,
      bearing: 335.678581 deg,
      approachRate: -0.610083 m/s,
      LOS rate: 0.325741 deg/s,
      cmd update: 1.302964 deg/s,
      cmd heading: 333.864270 deg,
      new cmd heading: 333.656783 deg.

2021-08-14T20:03:45.447Z,1628971425.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:45.789Z,1628971425.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:45.789Z,1628971425.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:45.790Z,1628971425.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:45.791Z,1628971425.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:46.189Z,1628971426.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,006DA,184,80,80,8C,FF
2021-08-14T20:03:46.189Z,1628971426.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:46.189Z,1628971426.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:46.191Z,1628971426.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:46.607Z,1628971426.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:47.093Z,1628971427.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,006AB,183,80,80,B5,FF
2021-08-14T20:03:47.093Z,1628971427.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:47.451Z,1628971427.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200348.18*5A

2021-08-14T20:03:47.486Z,1628971427.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 336.166092 deg, deltaT: 4.578908 s, approachRate: -0.615869 m/s, LOS rate: 0.106469 deg/s, posRepo size: 4
2021-08-14T20:03:47.500Z,1628971427.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.919998 m,
      bearing: 336.166092 deg,
      approachRate: -0.615869 m/s,
      LOS rate: 0.106469 deg/s,
      cmd update: 0.425876 deg/s,
      cmd heading: 339.825138 deg,
      new cmd heading: 340.245645 deg.

2021-08-14T20:03:49.868Z,1628971429.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:50.233Z,1628971430.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:50.233Z,1628971430.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:50.233Z,1628971430.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:50.234Z,1628971430.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:50.641Z,1628971430.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,006AB,183,80,80,B5,FF
2021-08-14T20:03:50.641Z,1628971430.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:50.641Z,1628971430.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:50.643Z,1628971430.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:51.061Z,1628971431.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:51.450Z,1628971431.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00680,185,80,80,BA,FF
2021-08-14T20:03:51.451Z,1628971431.451 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:51.909Z,1628971431.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200352.64*5A

2021-08-14T20:03:51.956Z,1628971431.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 337.124559 deg, deltaT: 4.370148 s, approachRate: -0.590368 m/s, LOS rate: 0.219321 deg/s, posRepo size: 4
2021-08-14T20:03:51.958Z,1628971431.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.340004 m,
      bearing: 337.124559 deg,
      approachRate: -0.590368 m/s,
      LOS rate: 0.219321 deg/s,
      cmd update: 0.877285 deg/s,
      cmd heading: 341.684302 deg,
      new cmd heading: 341.864461 deg.

2021-08-14T20:03:54.351Z,1628971434.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:54.689Z,1628971434.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:54.689Z,1628971434.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:54.690Z,1628971434.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:54.691Z,1628971434.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:55.085Z,1628971435.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00680,185,80,80,BA,FF
2021-08-14T20:03:55.085Z,1628971435.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:55.085Z,1628971435.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:55.087Z,1628971435.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:55.505Z,1628971435.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:03:55.905Z,1628971435.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00653,183,80,80,B1,FF
2021-08-14T20:03:55.906Z,1628971435.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:03:56.345Z,1628971436.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200357.08*55

2021-08-14T20:03:56.404Z,1628971436.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 337.656658 deg, deltaT: 4.410612 s, approachRate: -0.612160 m/s, LOS rate: 0.120641 deg/s, posRepo size: 4
2021-08-14T20:03:56.406Z,1628971436.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.640003 m,
      bearing: 337.656658 deg,
      approachRate: -0.612160 m/s,
      LOS rate: 0.120641 deg/s,
      cmd update: 0.482563 deg/s,
      cmd heading: 345.557696 deg,
      new cmd heading: 345.957614 deg.

2021-08-14T20:03:57.141Z,1628971437.141 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:03:58.747Z,1628971438.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:03:59.129Z,1628971439.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:03:59.129Z,1628971439.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:03:59.129Z,1628971439.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:03:59.130Z,1628971439.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:03:59.533Z,1628971439.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00653,183,80,80,B1,FF
2021-08-14T20:03:59.534Z,1628971439.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:03:59.534Z,1628971439.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:03:59.535Z,1628971439.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:03:59.953Z,1628971439.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:00.345Z,1628971440.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0062C,186,80,80,A0,FF
2021-08-14T20:04:00.345Z,1628971440.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:00.789Z,1628971440.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200401.53*5F

2021-08-14T20:04:00.812Z,1628971440.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 339.441769 deg, deltaT: 4.477410 s, approachRate: -0.522624 m/s, LOS rate: 0.398693 deg/s, posRepo size: 4
2021-08-14T20:04:00.814Z,1628971440.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 339.441769 deg,
      approachRate: -0.522624 m/s,
      LOS rate: 0.398693 deg/s,
      cmd update: 1.594771 deg/s,
      cmd heading: 347.720145 deg,
      new cmd heading: 347.906861 deg.

2021-08-14T20:04:03.226Z,1628971443.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:03.573Z,1628971443.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:03.573Z,1628971443.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:03.573Z,1628971443.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:03.574Z,1628971443.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:03.985Z,1628971443.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0062C,186,80,80,A0,FF
2021-08-14T20:04:03.985Z,1628971443.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:03.985Z,1628971443.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:03.987Z,1628971443.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:04.381Z,1628971444.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:04.789Z,1628971444.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00449,186,80,80,9D,FF
2021-08-14T20:04:04.789Z,1628971444.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:05.229Z,1628971445.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200405.98*5C

2021-08-14T20:04:05.317Z,1628971445.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 340.061977 deg, deltaT: 4.411461 s, approachRate: -6.569252 m/s, LOS rate: 0.140590 deg/s, posRepo size: 4
2021-08-14T20:04:05.318Z,1628971445.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.32 m.
2021-08-14T20:04:05.318Z,1628971445.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.32 m.
2021-08-14T20:04:05.319Z,1628971445.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T20:04:05.321Z,1628971445.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 340.061977 deg,
      approachRate: -6.569252 m/s,
      LOS rate: 0.140590 deg/s,
      cmd update: 0.562361 deg/s,
      cmd heading: 354.739916 deg,
      new cmd heading: 355.520843 deg.

2021-08-14T20:04:05.631Z,1628971445.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:04:05.631Z,1628971445.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:04:05.632Z,1628971445.632 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:04:05.634Z,1628971445.634 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:04:05.634Z,1628971445.634 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:04:05.636Z,1628971445.636 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:04:06.035Z,1628971446.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:04:06.035Z,1628971446.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:04:06.035Z,1628971446.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:04:06.036Z,1628971446.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:04:07.652Z,1628971447.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:08.033Z,1628971448.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:08.033Z,1628971448.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:08.033Z,1628971448.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:08.034Z,1628971448.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:08.418Z,1628971448.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00449,186,80,80,9D,FF
2021-08-14T20:04:08.418Z,1628971448.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:08.418Z,1628971448.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:08.420Z,1628971448.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:08.845Z,1628971448.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:09.225Z,1628971449.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,005DD,186,80,80,B9,FF
2021-08-14T20:04:09.226Z,1628971449.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:09.339Z,1628971449.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:04:09.674Z,1628971449.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200410.41*5C

2021-08-14T20:04:09.696Z,1628971449.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 338.718069 deg, deltaT: 4.504018 s, approachRate: 5.381861 m/s, LOS rate: -0.298380 deg/s, posRepo size: 4
2021-08-14T20:04:09.698Z,1628971449.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.559998 m,
      bearing: 338.718069 deg,
      approachRate: 5.381861 m/s,
      LOS rate: -0.298380 deg/s,
      cmd update: -1.193519 deg/s,
      cmd heading: 357.273611 deg,
      new cmd heading: 357.477914 deg.

2021-08-14T20:04:10.075Z,1628971450.075 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:04:10.075Z,1628971450.075 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:04:10.075Z,1628971450.075 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:04:10.076Z,1628971450.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:04:10.076Z,1628971450.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:04:10.076Z,1628971450.076 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:04:10.489Z,1628971450.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:04:10.489Z,1628971450.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:04:10.489Z,1628971450.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:04:10.490Z,1628971450.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:04:12.142Z,1628971452.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:12.458Z,1628971452.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:12.458Z,1628971452.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:12.458Z,1628971452.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:12.459Z,1628971452.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:12.874Z,1628971452.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,005DD,186,80,80,B9,FF
2021-08-14T20:04:12.874Z,1628971452.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:12.874Z,1628971452.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:12.877Z,1628971452.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:13.295Z,1628971453.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:13.678Z,1628971453.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,005BA,186,80,80,A3,FF
2021-08-14T20:04:13.678Z,1628971453.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:14.109Z,1628971454.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200414.87*52

2021-08-14T20:04:14.146Z,1628971454.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 338.750062 deg, deltaT: 4.381253 s, approachRate: -0.479315 m/s, LOS rate: 0.007302 deg/s, posRepo size: 4
2021-08-14T20:04:14.147Z,1628971454.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 338.750062 deg,
      approachRate: -0.479315 m/s,
      LOS rate: 0.007302 deg/s,
      cmd update: 0.029209 deg/s,
      cmd heading: 352.034115 deg,
      new cmd heading: 351.528917 deg.

2021-08-14T20:04:16.563Z,1628971456.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:16.905Z,1628971456.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:16.905Z,1628971456.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:16.906Z,1628971456.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:16.907Z,1628971456.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:17.317Z,1628971457.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,005BA,186,80,80,A3,FF
2021-08-14T20:04:17.317Z,1628971457.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:17.317Z,1628971457.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:17.319Z,1628971457.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:17.711Z,1628971457.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:18.114Z,1628971458.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,0058E,186,80,80,82,FF
2021-08-14T20:04:18.114Z,1628971458.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:18.562Z,1628971458.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200419.31*52

2021-08-14T20:04:18.604Z,1628971458.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 340.709315 deg, deltaT: 4.409038 s, approachRate: -0.598769 m/s, LOS rate: 0.444372 deg/s, posRepo size: 4
2021-08-14T20:04:18.606Z,1628971458.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.820000 m,
      bearing: 340.709315 deg,
      approachRate: -0.598769 m/s,
      LOS rate: 0.444372 deg/s,
      cmd update: 1.777488 deg/s,
      cmd heading: 352.162893 deg,
      new cmd heading: 352.176696 deg.

2021-08-14T20:04:21.044Z,1628971461.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:21.345Z,1628971461.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:21.345Z,1628971461.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:21.345Z,1628971461.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:21.346Z,1628971461.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:21.759Z,1628971461.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,0058E,186,80,80,82,FF
2021-08-14T20:04:21.759Z,1628971461.759 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:21.760Z,1628971461.760 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:21.763Z,1628971461.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:22.156Z,1628971462.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:22.565Z,1628971462.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00568,185,80,80,BC,FF
2021-08-14T20:04:22.566Z,1628971462.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:23.037Z,1628971463.037 [Micromodem](INFO): Nmea in: $SNTTA,0.046942,,,,200423.76*4B

2021-08-14T20:04:23.087Z,1628971463.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 340.835920 deg, deltaT: 4.505526 s, approachRate: -0.506045 m/s, LOS rate: 0.028100 deg/s, posRepo size: 4
2021-08-14T20:04:23.090Z,1628971463.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.540001 m,
      bearing: 340.835920 deg,
      approachRate: -0.506045 m/s,
      LOS rate: 0.028100 deg/s,
      cmd update: 0.112399 deg/s,
      cmd heading: 0.128152 deg,
      new cmd heading: 0.972623 deg.

2021-08-14T20:04:25.457Z,1628971465.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:25.795Z,1628971465.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:25.795Z,1628971465.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:25.795Z,1628971465.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:25.796Z,1628971465.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:26.193Z,1628971466.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00568,185,80,80,BC,FF
2021-08-14T20:04:26.193Z,1628971466.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:26.193Z,1628971466.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:26.195Z,1628971466.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:26.609Z,1628971466.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:27.073Z,1628971467.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00542,186,80,80,74,FF
2021-08-14T20:04:27.073Z,1628971467.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:27.434Z,1628971467.434 [Micromodem](INFO): Nmea in: $SNTTA,0.040901,,,,200428.19*48

2021-08-14T20:04:27.510Z,1628971467.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 339.664597 deg, deltaT: 4.497116 s, approachRate: -0.506992 m/s, LOS rate: -0.260461 deg/s, posRepo size: 4
2021-08-14T20:04:27.528Z,1628971467.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.259998 m,
      bearing: 339.664597 deg,
      approachRate: -0.506992 m/s,
      LOS rate: -0.260461 deg/s,
      cmd update: -1.041844 deg/s,
      cmd heading: 0.636348 deg,
      new cmd heading: 0.678647 deg.

2021-08-14T20:04:29.863Z,1628971469.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:30.226Z,1628971470.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:30.226Z,1628971470.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:30.227Z,1628971470.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:30.228Z,1628971470.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:30.645Z,1628971470.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,00542,186,80,80,74,FF
2021-08-14T20:04:30.645Z,1628971470.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:30.645Z,1628971470.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:30.647Z,1628971470.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:31.077Z,1628971471.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:31.446Z,1628971471.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A5,000,0051D,186,80,80,A9,FF
2021-08-14T20:04:31.446Z,1628971471.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:31.893Z,1628971471.893 [Micromodem](INFO): Nmea in: $SNTTA,0.036472,,,,200432.64*41

2021-08-14T20:04:31.910Z,1628971471.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 341.476947 deg, deltaT: 4.379405 s, approachRate: -0.506918 m/s, LOS rate: 0.413835 deg/s, posRepo size: 4
2021-08-14T20:04:31.914Z,1628971471.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.039997 m,
      bearing: 341.476947 deg,
      approachRate: -0.506918 m/s,
      LOS rate: 0.413835 deg/s,
      cmd update: 1.655339 deg/s,
      cmd heading: 356.079327 deg,
      new cmd heading: 355.660400 deg.

2021-08-14T20:04:34.332Z,1628971474.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:34.681Z,1628971474.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:34.681Z,1628971474.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:34.682Z,1628971474.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:34.683Z,1628971474.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:35.097Z,1628971475.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A5,000,0051D,186,80,80,A9,FF
2021-08-14T20:04:35.097Z,1628971475.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:35.097Z,1628971475.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:35.099Z,1628971475.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:35.512Z,1628971475.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:35.905Z,1628971475.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,004FA,186,80,80,96,FF
2021-08-14T20:04:35.905Z,1628971475.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:36.345Z,1628971476.345 [Micromodem](INFO): Nmea in: $SNTTA,0.038898,,,,200437.10*41

2021-08-14T20:04:36.433Z,1628971476.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 342.508988 deg, deltaT: 4.409239 s, approachRate: -0.476272 m/s, LOS rate: 0.234063 deg/s, posRepo size: 4
2021-08-14T20:04:36.448Z,1628971476.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.939999 m,
      bearing: 342.508988 deg,
      approachRate: -0.476272 m/s,
      LOS rate: 0.234063 deg/s,
      cmd update: 0.936254 deg/s,
      cmd heading: 3.387227 deg,
      new cmd heading: 4.222933 deg.

2021-08-14T20:04:36.746Z,1628971476.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:04:36.746Z,1628971476.746 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:04:36.747Z,1628971476.747 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:04:36.752Z,1628971476.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:04:36.752Z,1628971476.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:04:36.752Z,1628971476.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:04:37.173Z,1628971477.173 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:04:37.174Z,1628971477.174 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:04:37.174Z,1628971477.174 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:04:37.174Z,1628971477.174 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:04:38.752Z,1628971478.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:39.121Z,1628971479.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:39.121Z,1628971479.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:39.121Z,1628971479.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:39.122Z,1628971479.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:39.525Z,1628971479.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,004FA,186,80,80,96,FF
2021-08-14T20:04:39.525Z,1628971479.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:39.525Z,1628971479.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:39.527Z,1628971479.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:39.933Z,1628971479.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:40.333Z,1628971480.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,004D4,187,80,80,9B,FF
2021-08-14T20:04:40.334Z,1628971480.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:40.423Z,1628971480.423 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:04:40.781Z,1628971480.781 [Micromodem](INFO): Nmea in: $SNTTA,0.080379,,,,200441.52*41

2021-08-14T20:04:40.798Z,1628971480.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 338.208647 deg, deltaT: 4.497430 s, approachRate: -0.506956 m/s, LOS rate: -0.956178 deg/s, posRepo size: 4
2021-08-14T20:04:40.800Z,1628971480.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.660000 m,
      bearing: 338.208647 deg,
      approachRate: -0.506956 m/s,
      LOS rate: -0.956178 deg/s,
      cmd update: -3.824710 deg/s,
      cmd heading: 7.593869 deg,
      new cmd heading: 7.951592 deg.

2021-08-14T20:04:43.204Z,1628971483.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:43.561Z,1628971483.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:43.561Z,1628971483.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:43.561Z,1628971483.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:43.562Z,1628971483.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:43.973Z,1628971483.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,004D4,187,80,80,9B,FF
2021-08-14T20:04:43.973Z,1628971483.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:43.973Z,1628971483.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:43.975Z,1628971483.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:44.387Z,1628971484.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:44.777Z,1628971484.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,004BB,188,80,80,7A,FF
2021-08-14T20:04:44.777Z,1628971484.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:44.822Z,1628971484.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:04:45.227Z,1628971485.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200445.97*57

2021-08-14T20:04:45.354Z,1628971485.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 337.058088 deg, deltaT: 4.399194 s, approachRate: -0.340972 m/s, LOS rate: -0.261539 deg/s, posRepo size: 4
2021-08-14T20:04:45.362Z,1628971485.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.159996 m,
      bearing: 337.058088 deg,
      approachRate: -0.340972 m/s,
      LOS rate: -0.261539 deg/s,
      cmd update: -1.046154 deg/s,
      cmd heading: 350.752751 deg,
      new cmd heading: 348.728699 deg.

2021-08-14T20:04:47.325Z,1628971487.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:47.605Z,1628971487.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:47.605Z,1628971487.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:47.605Z,1628971487.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:47.606Z,1628971487.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:48.013Z,1628971488.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,004BB,188,80,80,7A,FF
2021-08-14T20:04:48.013Z,1628971488.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:48.013Z,1628971488.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:48.015Z,1628971488.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:48.426Z,1628971488.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:48.817Z,1628971488.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,0048F,186,80,80,9A,FF
2021-08-14T20:04:48.817Z,1628971488.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:48.870Z,1628971488.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:04:49.246Z,1628971489.246 [Micromodem](INFO): Nmea in: $SNTTA,0.422907,0.421219,,,200450.01*5B

2021-08-14T20:04:49.353Z,1628971489.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 343.582230 deg, deltaT: 4.048449 s, approachRate: -0.652101 m/s, LOS rate: 1.611516 deg/s, posRepo size: 4
2021-08-14T20:04:49.355Z,1628971489.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.520000 m,
      bearing: 343.582230 deg,
      approachRate: -0.652101 m/s,
      LOS rate: 1.611516 deg/s,
      cmd update: 6.446066 deg/s,
      cmd heading: 346.521635 deg,
      new cmd heading: 346.010211 deg.

2021-08-14T20:04:51.663Z,1628971491.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:52.066Z,1628971492.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:52.066Z,1628971492.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:52.068Z,1628971492.068 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:52.069Z,1628971492.069 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:52.463Z,1628971492.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,0048F,186,80,80,9A,FF
2021-08-14T20:04:52.463Z,1628971492.463 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:52.463Z,1628971492.463 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:52.467Z,1628971492.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:52.860Z,1628971492.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:53.277Z,1628971493.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,0046B,185,80,80,7A,FF
2021-08-14T20:04:53.279Z,1628971493.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:53.358Z,1628971493.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:04:53.705Z,1628971493.705 [Micromodem](INFO): Nmea in: $SNTTA,0.037439,,,,200454.46*4F

2021-08-14T20:04:53.728Z,1628971493.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 344.631128 deg, deltaT: 4.487976 s, approachRate: -0.481286 m/s, LOS rate: 0.233713 deg/s, posRepo size: 4
2021-08-14T20:04:53.730Z,1628971493.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 344.631128 deg,
      approachRate: -0.481286 m/s,
      LOS rate: 0.233713 deg/s,
      cmd update: 0.934852 deg/s,
      cmd heading: 15.477169 deg,
      new cmd heading: 17.878213 deg.

2021-08-14T20:04:56.113Z,1628971496.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:04:56.505Z,1628971496.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:04:56.505Z,1628971496.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:04:56.506Z,1628971496.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:04:56.507Z,1628971496.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:04:56.894Z,1628971496.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,0046B,185,80,80,7A,FF
2021-08-14T20:04:56.894Z,1628971496.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:04:56.894Z,1628971496.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:04:56.896Z,1628971496.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:04:57.316Z,1628971497.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:04:57.705Z,1628971497.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,00446,185,80,80,AB,FF
2021-08-14T20:04:57.705Z,1628971497.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:04:57.751Z,1628971497.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:04:58.149Z,1628971498.149 [Micromodem](INFO): Nmea in: $SNTTA,0.057252,,,,200458.89*4D

2021-08-14T20:04:58.172Z,1628971498.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 342.547675 deg, deltaT: 4.392326 s, approachRate: -0.505426 m/s, LOS rate: -0.474339 deg/s, posRepo size: 4
2021-08-14T20:04:58.174Z,1628971498.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.140001 m,
      bearing: 342.547675 deg,
      approachRate: -0.505426 m/s,
      LOS rate: -0.474339 deg/s,
      cmd update: -1.897358 deg/s,
      cmd heading: 19.583365 deg,
      new cmd heading: 19.979847 deg.

2021-08-14T20:05:00.574Z,1628971500.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:00.937Z,1628971500.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:00.937Z,1628971500.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:00.937Z,1628971500.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:00.938Z,1628971500.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:01.349Z,1628971501.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,00446,185,80,80,AB,FF
2021-08-14T20:05:01.350Z,1628971501.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:01.350Z,1628971501.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:01.351Z,1628971501.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:01.749Z,1628971501.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:02.149Z,1628971502.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,00421,189,80,80,A4,FF
2021-08-14T20:05:02.149Z,1628971502.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:02.289Z,1628971502.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:02.593Z,1628971502.593 [Micromodem](INFO): Nmea in: $SNTTA,0.031108,,,,200503.35*49

2021-08-14T20:05:02.658Z,1628971502.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 340.937826 deg, deltaT: 4.538055 s, approachRate: -0.489197 m/s, LOS rate: -0.354744 deg/s, posRepo size: 4
2021-08-14T20:05:02.672Z,1628971502.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.919998 m,
      bearing: 340.937826 deg,
      approachRate: -0.489197 m/s,
      LOS rate: -0.354744 deg/s,
      cmd update: -1.418976 deg/s,
      cmd heading: 11.036171 deg,
      new cmd heading: 10.266137 deg.

2021-08-14T20:05:05.058Z,1628971505.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:05.385Z,1628971505.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:05.386Z,1628971505.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:05.386Z,1628971505.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:05.387Z,1628971505.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:05.785Z,1628971505.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,00421,189,80,80,A4,FF
2021-08-14T20:05:05.785Z,1628971505.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:05.785Z,1628971505.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:05.787Z,1628971505.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:06.193Z,1628971506.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:06.601Z,1628971506.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,0040A,189,80,80,AF,FF
2021-08-14T20:05:06.602Z,1628971506.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:06.673Z,1628971506.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:07.069Z,1628971507.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200507.78*51

2021-08-14T20:05:07.129Z,1628971507.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 343.766727 deg, deltaT: 4.384599 s, approachRate: -0.314738 m/s, LOS rate: 0.645190 deg/s, posRepo size: 4
2021-08-14T20:05:07.131Z,1628971507.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.539997 m,
      bearing: 343.766727 deg,
      approachRate: -0.314738 m/s,
      LOS rate: 0.645190 deg/s,
      cmd update: 2.580761 deg/s,
      cmd heading: 4.773003 deg,
      new cmd heading: 4.115784 deg.

2021-08-14T20:05:09.490Z,1628971509.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:09.825Z,1628971509.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:09.825Z,1628971509.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:09.825Z,1628971509.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:09.826Z,1628971509.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:10.264Z,1628971510.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,0040A,189,80,80,AF,FF
2021-08-14T20:05:10.265Z,1628971510.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:10.266Z,1628971510.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:10.270Z,1628971510.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:10.645Z,1628971510.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:11.069Z,1628971511.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,003E9,185,80,80,62,FF
2021-08-14T20:05:11.070Z,1628971511.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:11.139Z,1628971511.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:11.478Z,1628971511.478 [Micromodem](INFO): Nmea in: $SNTTA,0.030976,,,,200512.27*4A

2021-08-14T20:05:11.531Z,1628971511.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 351.960823 deg, deltaT: 4.470373 s, approachRate: -0.442915 m/s, LOS rate: 1.832978 deg/s, posRepo size: 4
2021-08-14T20:05:11.537Z,1628971511.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 351.960823 deg,
      approachRate: -0.442915 m/s,
      LOS rate: 1.832978 deg/s,
      cmd update: 7.331913 deg/s,
      cmd heading: 16.298712 deg,
      new cmd heading: 17.312128 deg.

2021-08-14T20:05:13.915Z,1628971513.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:14.313Z,1628971514.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:14.313Z,1628971514.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:14.313Z,1628971514.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:14.314Z,1628971514.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:14.689Z,1628971514.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,003E9,185,80,80,62,FF
2021-08-14T20:05:14.689Z,1628971514.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:14.689Z,1628971514.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:14.691Z,1628971514.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:15.089Z,1628971515.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:15.501Z,1628971515.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,003BE,186,80,80,A1,FF
2021-08-14T20:05:15.502Z,1628971515.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:15.573Z,1628971515.573 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:15.933Z,1628971515.933 [Micromodem](INFO): Nmea in: $SNTTA,0.032467,,,,200516.69*4B

2021-08-14T20:05:15.965Z,1628971515.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 342.193707 deg, deltaT: 4.429291 s, approachRate: -0.582486 m/s, LOS rate: -2.205120 deg/s, posRepo size: 4
2021-08-14T20:05:15.966Z,1628971515.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.980001 m,
      bearing: 342.193707 deg,
      approachRate: -0.582486 m/s,
      LOS rate: -2.205120 deg/s,
      cmd update: -8.820478 deg/s,
      cmd heading: 48.835564 deg,
      new cmd heading: 51.727167 deg.

2021-08-14T20:05:18.370Z,1628971518.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:18.737Z,1628971518.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:18.737Z,1628971518.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:18.737Z,1628971518.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:18.738Z,1628971518.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:19.129Z,1628971519.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,003BE,186,80,80,A1,FF
2021-08-14T20:05:19.130Z,1628971519.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:19.130Z,1628971519.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:19.132Z,1628971519.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:19.557Z,1628971519.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:19.937Z,1628971519.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,003A1,188,80,80,7C,FF
2021-08-14T20:05:19.937Z,1628971519.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:19.991Z,1628971519.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:20.397Z,1628971520.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200521.13*58

2021-08-14T20:05:20.446Z,1628971520.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 339.812375 deg, deltaT: 4.417658 s, approachRate: -0.393874 m/s, LOS rate: -0.539048 deg/s, posRepo size: 4
2021-08-14T20:05:20.450Z,1628971520.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 339.812375 deg,
      approachRate: -0.393874 m/s,
      LOS rate: -0.539048 deg/s,
      cmd update: -2.156194 deg/s,
      cmd heading: 9.905395 deg,
      new cmd heading: 5.834586 deg.

2021-08-14T20:05:22.807Z,1628971522.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:23.181Z,1628971523.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:23.181Z,1628971523.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:23.181Z,1628971523.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:23.182Z,1628971523.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:23.578Z,1628971523.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,003A1,188,80,80,7C,FF
2021-08-14T20:05:23.578Z,1628971523.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:23.579Z,1628971523.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:23.582Z,1628971523.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:23.981Z,1628971523.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:24.424Z,1628971524.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F1,000,00389,189,80,80,B9,FF
2021-08-14T20:05:24.424Z,1628971524.424 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:24.489Z,1628971524.489 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:24.821Z,1628971524.821 [Micromodem](INFO): Nmea in: $SNTTA,0.028874,,,,200525.58*4C

2021-08-14T20:05:24.852Z,1628971524.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 338.445600 deg, deltaT: 4.498464 s, approachRate: -0.320109 m/s, LOS rate: -0.303832 deg/s, posRepo size: 4
2021-08-14T20:05:24.854Z,1628971524.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 338.445600 deg,
      approachRate: -0.320109 m/s,
      LOS rate: -0.303832 deg/s,
      cmd update: -1.215326 deg/s,
      cmd heading: 0.245809 deg,
      new cmd heading: 359.407781 deg.

2021-08-14T20:05:27.270Z,1628971527.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:27.617Z,1628971527.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:27.617Z,1628971527.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:27.617Z,1628971527.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:27.618Z,1628971527.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:28.023Z,1628971528.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F1,000,00389,189,80,80,B9,FF
2021-08-14T20:05:28.023Z,1628971528.023 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:28.023Z,1628971528.023 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:28.025Z,1628971528.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:28.421Z,1628971528.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:28.853Z,1628971528.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,0036B,189,80,80,67,FF
2021-08-14T20:05:28.853Z,1628971528.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:28.939Z,1628971528.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:29.254Z,1628971529.254 [Micromodem](INFO): Nmea in: $SNTTA,0.417173,0.417217,,,200530.02*59

2021-08-14T20:05:29.337Z,1628971529.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 345.994379 deg, deltaT: 4.449539 s, approachRate: -0.404537 m/s, LOS rate: 1.696531 deg/s, posRepo size: 4
2021-08-14T20:05:29.339Z,1628971529.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 345.994379 deg,
      approachRate: -0.404537 m/s,
      LOS rate: 1.696531 deg/s,
      cmd update: 6.786123 deg/s,
      cmd heading: 354.813699 deg,
      new cmd heading: 354.323463 deg.

2021-08-14T20:05:31.289Z,1628971531.289 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T20:05:31.671Z,1628971531.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:32.057Z,1628971532.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:32.057Z,1628971532.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:32.057Z,1628971532.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:32.058Z,1628971532.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:32.126Z,1628971532.126 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:05:32.462Z,1628971532.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,0036B,189,80,80,67,FF
2021-08-14T20:05:32.462Z,1628971532.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:32.462Z,1628971532.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:32.477Z,1628971532.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:32.868Z,1628971532.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:33.289Z,1628971533.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0033F,185,80,80,9B,FF
2021-08-14T20:05:33.289Z,1628971533.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:33.413Z,1628971533.413 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:33.709Z,1628971533.709 [Micromodem](INFO): Nmea in: $SNTTA,0.040614,,,,200534.47*44

2021-08-14T20:05:33.732Z,1628971533.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 341.855066 deg, deltaT: 4.474550 s, approachRate: -0.590003 m/s, LOS rate: -0.925079 deg/s, posRepo size: 4
2021-08-14T20:05:33.734Z,1628971533.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 341.855066 deg,
      approachRate: -0.590003 m/s,
      LOS rate: -0.925079 deg/s,
      cmd update: -3.700317 deg/s,
      cmd heading: 25.167755 deg,
      new cmd heading: 27.377262 deg.

2021-08-14T20:05:35.701Z,1628971535.701 [PowerOnly](INFO): Powering down loadControl
2021-08-14T20:05:36.116Z,1628971536.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:36.513Z,1628971536.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:36.513Z,1628971536.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:36.514Z,1628971536.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:36.515Z,1628971536.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:36.909Z,1628971536.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,0033F,185,80,80,9B,FF
2021-08-14T20:05:36.909Z,1628971536.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:36.909Z,1628971536.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:36.911Z,1628971536.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:37.320Z,1628971537.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:37.717Z,1628971537.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,0031A,188,80,80,C8,FF
2021-08-14T20:05:37.717Z,1628971537.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:37.769Z,1628971537.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:38.161Z,1628971538.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200538.91*5A

2021-08-14T20:05:38.194Z,1628971538.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 332.581308 deg, deltaT: 4.355625 s, approachRate: -0.509686 m/s, LOS rate: -2.129145 deg/s, posRepo size: 4
2021-08-14T20:05:38.225Z,1628971538.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 332.581308 deg,
      approachRate: -0.509686 m/s,
      LOS rate: -2.129145 deg/s,
      cmd update: -8.516581 deg/s,
      cmd heading: 9.067795 deg,
      new cmd heading: 7.475667 deg.

2021-08-14T20:05:40.604Z,1628971540.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:40.951Z,1628971540.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:40.952Z,1628971540.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:40.952Z,1628971540.952 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:40.954Z,1628971540.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:41.354Z,1628971541.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,0031A,188,80,80,C8,FF
2021-08-14T20:05:41.354Z,1628971541.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:41.354Z,1628971541.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:41.356Z,1628971541.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:41.757Z,1628971541.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:42.165Z,1628971542.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00301,189,80,80,87,FF
2021-08-14T20:05:42.166Z,1628971542.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:42.191Z,1628971542.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:42.629Z,1628971542.629 [Micromodem](INFO): Nmea in: $SNTTA,0.005479,,,,200543.35*49

2021-08-14T20:05:42.668Z,1628971542.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 311.200931 deg, deltaT: 4.421798 s, approachRate: -0.339229 m/s, LOS rate: -4.835222 deg/s, posRepo size: 4
2021-08-14T20:05:42.670Z,1628971542.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 311.200931 deg,
      approachRate: -0.339229 m/s,
      LOS rate: -4.835222 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 331.335339 deg,
      new cmd heading: 327.243054 deg.

2021-08-14T20:05:45.077Z,1628971545.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:45.405Z,1628971545.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:45.405Z,1628971545.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:45.405Z,1628971545.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:45.406Z,1628971545.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:45.793Z,1628971545.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00301,189,80,80,87,FF
2021-08-14T20:05:45.793Z,1628971545.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:45.793Z,1628971545.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:45.795Z,1628971545.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:46.216Z,1628971546.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:46.633Z,1628971546.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,002E7,189,80,80,A0,FF
2021-08-14T20:05:46.634Z,1628971546.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:46.664Z,1628971546.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:47.065Z,1628971547.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200547.79*54

2021-08-14T20:05:47.066Z,1628971547.066 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,200548,AUV,2.1.40000
 expected 16
2021-08-14T20:05:47.162Z,1628971547.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 337.323727 deg, deltaT: 4.473296 s, approachRate: -0.348736 m/s, LOS rate: 5.839720 deg/s, posRepo size: 4
2021-08-14T20:05:47.170Z,1628971547.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 337.323727 deg,
      approachRate: -0.348736 m/s,
      LOS rate: 5.839720 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.658642 deg,
      new cmd heading: 271.642130 deg.

2021-08-14T20:05:49.474Z,1628971549.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:49.833Z,1628971549.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:49.833Z,1628971549.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:49.833Z,1628971549.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:49.834Z,1628971549.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:50.237Z,1628971550.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,002E7,189,80,80,A0,FF
2021-08-14T20:05:50.237Z,1628971550.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:50.237Z,1628971550.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:50.239Z,1628971550.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:50.672Z,1628971550.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:51.075Z,1628971551.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,002D4,185,80,80,5E,FF
2021-08-14T20:05:51.077Z,1628971551.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:51.084Z,1628971551.084 [Micromodem](INFO): Nmea in: $SNTTA,0.030997,0.310607,,,200552.23*58

2021-08-14T20:05:51.169Z,1628971551.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:51.488Z,1628971551.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 345.812177 deg, deltaT: 4.505081 s, approachRate: -0.253048 m/s, LOS rate: 1.884195 deg/s, posRepo size: 4
2021-08-14T20:05:51.490Z,1628971551.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 345.812177 deg,
      approachRate: -0.253048 m/s,
      LOS rate: 1.884195 deg/s,
      cmd update: 7.536779 deg/s,
      cmd heading: 331.612575 deg,
      new cmd heading: 335.588031 deg.

2021-08-14T20:05:53.922Z,1628971553.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:54.273Z,1628971554.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:54.273Z,1628971554.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:54.273Z,1628971554.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:54.274Z,1628971554.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:54.690Z,1628971554.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,002D4,185,80,80,5E,FF
2021-08-14T20:05:54.690Z,1628971554.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:54.690Z,1628971554.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:54.692Z,1628971554.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:55.093Z,1628971555.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:55.505Z,1628971555.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A6,000,002CC,186,80,80,49,FF
2021-08-14T20:05:55.506Z,1628971555.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:55.526Z,1628971555.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:05:55.941Z,1628971555.941 [Micromodem](INFO): Nmea in: $SNTTA,0.020703,,,,200556.69*4D

2021-08-14T20:05:55.981Z,1628971555.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 321.429659 deg, deltaT: 4.357048 s, approachRate: -0.110167 m/s, LOS rate: -5.596110 deg/s, posRepo size: 4
2021-08-14T20:05:55.983Z,1628971555.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 321.429659 deg,
      approachRate: -0.110167 m/s,
      LOS rate: -5.596110 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 4.516585 deg,
      new cmd heading: 7.975952 deg.

2021-08-14T20:05:58.346Z,1628971558.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:05:58.721Z,1628971558.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:05:58.721Z,1628971558.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:05:58.721Z,1628971558.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:05:58.722Z,1628971558.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:05:59.125Z,1628971559.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A6,000,002CC,186,80,80,49,FF
2021-08-14T20:05:59.125Z,1628971559.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:05:59.125Z,1628971559.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:05:59.127Z,1628971559.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:05:59.541Z,1628971559.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:05:59.933Z,1628971559.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,002D8,187,80,80,74,FF
2021-08-14T20:05:59.933Z,1628971559.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:05:59.988Z,1628971559.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:00.381Z,1628971560.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200601.12*58

2021-08-14T20:06:00.408Z,1628971560.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.179999 m, bearing: 331.934872 deg, deltaT: 4.462081 s, approachRate: 0.161360 m/s, LOS rate: 2.354331 deg/s, posRepo size: 4
2021-08-14T20:06:00.410Z,1628971560.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.179999 m,
      bearing: 331.934872 deg,
      approachRate: 0.161360 m/s,
      LOS rate: 2.354331 deg/s,
      cmd update: 9.417322 deg/s,
      cmd heading: 310.971324 deg,
      new cmd heading: 305.895239 deg.

2021-08-14T20:06:02.798Z,1628971562.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:03.165Z,1628971563.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:03.165Z,1628971563.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:03.165Z,1628971563.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:03.166Z,1628971563.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:03.570Z,1628971563.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,002D8,187,80,80,74,FF
2021-08-14T20:06:03.570Z,1628971563.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:03.571Z,1628971563.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:03.573Z,1628971563.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:04.048Z,1628971564.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:04.377Z,1628971564.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,002D4,186,80,80,9D,FF
2021-08-14T20:06:04.377Z,1628971564.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:04.444Z,1628971564.444 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:04.825Z,1628971564.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200605.57*5D

2021-08-14T20:06:04.851Z,1628971564.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 280.169524 deg, deltaT: 4.456397 s, approachRate: -0.053855 m/s, LOS rate: -11.615964 deg/s, posRepo size: 4
2021-08-14T20:06:04.852Z,1628971564.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.615964 deg/s. Setting heading cmd to target bearing of 280.169524deg and heading rate command to 0 deg/s.
2021-08-14T20:06:07.251Z,1628971567.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:07.633Z,1628971567.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:07.633Z,1628971567.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:07.633Z,1628971567.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:07.634Z,1628971567.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:08.013Z,1628971568.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,002D4,186,80,80,9D,FF
2021-08-14T20:06:08.013Z,1628971568.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:08.013Z,1628971568.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:08.015Z,1628971568.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:08.425Z,1628971568.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:08.821Z,1628971568.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,002D1,186,80,80,8C,FF
2021-08-14T20:06:08.821Z,1628971568.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:08.878Z,1628971568.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:09.254Z,1628971569.254 [Micromodem](INFO): Nmea in: $SNTTA,0.021920,0.384729,,,200610.01*51

2021-08-14T20:06:09.289Z,1628971569.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 268.025229 deg, deltaT: 4.433960 s, approachRate: -0.040596 m/s, LOS rate: -2.738927 deg/s, posRepo size: 4
2021-08-14T20:06:09.290Z,1628971569.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 5.76 m.
2021-08-14T20:06:09.291Z,1628971569.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 268.025229 deg,
      approachRate: -0.040596 m/s,
      LOS rate: -2.738927 deg/s,
      cmd update: -10.955710 deg/s,
      cmd heading: 280.169524 deg,
      new cmd heading: 280.169524 deg.

2021-08-14T20:06:11.704Z,1628971571.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:12.049Z,1628971572.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:12.050Z,1628971572.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:12.050Z,1628971572.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:12.051Z,1628971572.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:12.476Z,1628971572.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,002D1,186,80,80,8C,FF
2021-08-14T20:06:12.476Z,1628971572.476 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:12.476Z,1628971572.476 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:12.478Z,1628971572.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:12.870Z,1628971572.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:13.277Z,1628971573.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,002D1,184,80,80,BF,FF
2021-08-14T20:06:13.278Z,1628971573.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:13.356Z,1628971573.356 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:13.697Z,1628971573.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200614.48*53

2021-08-14T20:06:13.723Z,1628971573.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 248.568288 deg, deltaT: 4.478002 s, approachRate: 0.000000 m/s, LOS rate: -4.345005 deg/s, posRepo size: 4
2021-08-14T20:06:13.741Z,1628971573.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 248.568288 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.345005 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 231.206387 deg,
      new cmd heading: 227.058906 deg.

2021-08-14T20:06:16.111Z,1628971576.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:16.517Z,1628971576.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:16.517Z,1628971576.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:16.517Z,1628971576.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:16.518Z,1628971576.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:16.901Z,1628971576.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,002D1,184,80,80,BF,FF
2021-08-14T20:06:16.901Z,1628971576.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:16.901Z,1628971576.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:16.903Z,1628971576.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:17.319Z,1628971577.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:17.709Z,1628971577.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,002D0,184,80,80,BA,FF
2021-08-14T20:06:17.709Z,1628971577.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:17.794Z,1628971577.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:18.157Z,1628971578.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200618.90*5A

2021-08-14T20:06:18.179Z,1628971578.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 227.169291 deg, deltaT: 4.437183 s, approachRate: -0.013522 m/s, LOS rate: -4.822654 deg/s, posRepo size: 4
2021-08-14T20:06:18.182Z,1628971578.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 227.169291 deg,
      approachRate: -0.013522 m/s,
      LOS rate: -4.822654 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 177.985690 deg,
      new cmd heading: 173.186985 deg.

2021-08-14T20:06:20.622Z,1628971580.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:20.952Z,1628971580.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:20.953Z,1628971580.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:20.953Z,1628971580.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:20.955Z,1628971580.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:21.346Z,1628971581.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,002D0,184,80,80,BA,FF
2021-08-14T20:06:21.347Z,1628971581.347 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:21.347Z,1628971581.347 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:21.349Z,1628971581.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:21.821Z,1628971581.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:22.225Z,1628971582.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,002D5,185,80,80,D1,FF
2021-08-14T20:06:22.226Z,1628971582.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:22.317Z,1628971582.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:22.645Z,1628971582.645 [Micromodem](INFO): Nmea in: $SNTTA,0.028756,,,,200623.34*4C

2021-08-14T20:06:22.679Z,1628971582.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 219.321746 deg, deltaT: 4.523290 s, approachRate: 0.066323 m/s, LOS rate: -1.734920 deg/s, posRepo size: 4
2021-08-14T20:06:22.683Z,1628971582.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 219.321746 deg,
      approachRate: 0.066323 m/s,
      LOS rate: -1.734920 deg/s,
      cmd update: -6.939680 deg/s,
      cmd heading: 123.575588 deg,
      new cmd heading: 119.197100 deg.

2021-08-14T20:06:25.099Z,1628971585.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:25.454Z,1628971585.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:25.454Z,1628971585.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:25.455Z,1628971585.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:25.456Z,1628971585.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:25.845Z,1628971585.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,002D5,185,80,80,D1,FF
2021-08-14T20:06:25.845Z,1628971585.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:25.845Z,1628971585.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:25.847Z,1628971585.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:26.277Z,1628971586.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:26.665Z,1628971586.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,002EA,186,80,80,A7,FF
2021-08-14T20:06:26.665Z,1628971586.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:26.727Z,1628971586.727 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:27.102Z,1628971587.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200627.84*53

2021-08-14T20:06:27.184Z,1628971587.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 205.837668 deg, deltaT: 4.414585 s, approachRate: 0.285418 m/s, LOS rate: -3.054438 deg/s, posRepo size: 4
2021-08-14T20:06:27.184Z,1628971587.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.26 m.
2021-08-14T20:06:27.186Z,1628971587.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 205.837668 deg,
      approachRate: 0.285418 m/s,
      LOS rate: -3.054438 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 92.996626 deg,
      new cmd heading: 89.779411 deg.

2021-08-14T20:06:29.540Z,1628971589.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:29.893Z,1628971589.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:29.894Z,1628971589.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:29.894Z,1628971589.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:29.895Z,1628971589.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:30.290Z,1628971590.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,002EA,186,80,80,A7,FF
2021-08-14T20:06:30.290Z,1628971590.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:30.290Z,1628971590.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:30.293Z,1628971590.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:30.706Z,1628971590.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:31.125Z,1628971591.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00312,185,80,80,4D,FF
2021-08-14T20:06:31.126Z,1628971591.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:31.131Z,1628971591.131 [Micromodem](INFO): Nmea in: $SNTTA,0.282347,0.280716,,,200632.29*52

2021-08-14T20:06:31.215Z,1628971591.215 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:31.560Z,1628971591.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 209.386074 deg, deltaT: 4.483558 s, approachRate: 0.535290 m/s, LOS rate: 0.791426 deg/s, posRepo size: 4
2021-08-14T20:06:31.565Z,1628971591.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 209.386074 deg,
      approachRate: 0.535290 m/s,
      LOS rate: 0.791426 deg/s,
      cmd update: 3.165706 deg/s,
      cmd heading: 39.143600 deg,
      new cmd heading: 34.922936 deg.

2021-08-14T20:06:33.964Z,1628971593.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:34.329Z,1628971594.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:34.329Z,1628971594.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:34.329Z,1628971594.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:34.330Z,1628971594.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:34.733Z,1628971594.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00312,185,80,80,4D,FF
2021-08-14T20:06:34.733Z,1628971594.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:34.733Z,1628971594.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:34.735Z,1628971594.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:35.141Z,1628971595.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:35.549Z,1628971595.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,0033D,185,80,80,7E,FF
2021-08-14T20:06:35.549Z,1628971595.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:35.639Z,1628971595.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:35.990Z,1628971595.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200636.73*5B

2021-08-14T20:06:36.023Z,1628971596.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 181.946841 deg, deltaT: 4.428598 s, approachRate: 0.582577 m/s, LOS rate: -6.195919 deg/s, posRepo size: 4
2021-08-14T20:06:36.026Z,1628971596.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 181.946841 deg,
      approachRate: 0.582577 m/s,
      LOS rate: -6.195919 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 53.147960 deg,
      new cmd heading: 54.383298 deg.

2021-08-14T20:06:38.411Z,1628971598.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:38.781Z,1628971598.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:38.781Z,1628971598.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:38.781Z,1628971598.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:38.782Z,1628971598.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:39.177Z,1628971599.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,0033D,185,80,80,7E,FF
2021-08-14T20:06:39.177Z,1628971599.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:39.177Z,1628971599.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:39.179Z,1628971599.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:39.629Z,1628971599.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:40.005Z,1628971600.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,00373,184,80,80,4D,FF
2021-08-14T20:06:40.005Z,1628971600.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:40.067Z,1628971600.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:40.434Z,1628971600.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200641.18*56

2021-08-14T20:06:40.482Z,1628971600.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 172.649711 deg, deltaT: 4.423165 s, approachRate: 0.732506 m/s, LOS rate: -2.101918 deg/s, posRepo size: 4
2021-08-14T20:06:40.483Z,1628971600.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.48 m. Rolling out.
2021-08-14T20:06:40.483Z,1628971600.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T20:06:42.874Z,1628971602.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:43.237Z,1628971603.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:43.237Z,1628971603.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:43.237Z,1628971603.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:43.238Z,1628971603.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:43.680Z,1628971603.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,00373,184,80,80,4D,FF
2021-08-14T20:06:43.681Z,1628971603.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:43.681Z,1628971603.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:43.683Z,1628971603.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:44.052Z,1628971604.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:44.454Z,1628971604.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,00389,189,80,80,87,FF
2021-08-14T20:06:44.454Z,1628971604.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:44.499Z,1628971604.499 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:44.866Z,1628971604.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200645.68*55

2021-08-14T20:06:44.915Z,1628971604.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 132.454280 deg, deltaT: 4.436762 s, approachRate: 0.297515 m/s, LOS rate: -9.059632 deg/s, posRepo size: 4
2021-08-14T20:06:47.328Z,1628971607.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:47.681Z,1628971607.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:47.681Z,1628971607.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:47.681Z,1628971607.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:47.682Z,1628971607.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:48.094Z,1628971608.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,00389,189,80,80,87,FF
2021-08-14T20:06:48.094Z,1628971608.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:48.094Z,1628971608.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:48.096Z,1628971608.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:48.584Z,1628971608.584 [DDM](ERROR): Could not parse whisker state
2021-08-14T20:06:48.630Z,1628971608.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:48.902Z,1628971608.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,003A9,185,80,80,8D,FF
2021-08-14T20:06:48.902Z,1628971608.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:48.923Z,1628971608.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:49.334Z,1628971609.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200650.09*56

2021-08-14T20:06:49.371Z,1628971609.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 123.442036 deg, deltaT: 4.419280 s, approachRate: 0.434459 m/s, LOS rate: -2.039301 deg/s, posRepo size: 4
2021-08-14T20:06:51.767Z,1628971611.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:52.141Z,1628971612.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:52.142Z,1628971612.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:52.143Z,1628971612.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:52.164Z,1628971612.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:52.537Z,1628971612.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,003A9,185,80,80,8D,FF
2021-08-14T20:06:52.538Z,1628971612.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:52.538Z,1628971612.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:52.540Z,1628971612.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:52.941Z,1628971612.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:53.346Z,1628971613.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,003C8,185,80,80,97,FF
2021-08-14T20:06:53.346Z,1628971613.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:53.387Z,1628971613.387 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:53.777Z,1628971613.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200654.54*5A

2021-08-14T20:06:53.803Z,1628971613.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 109.481485 deg, deltaT: 4.464263 s, approachRate: 0.416642 m/s, LOS rate: -3.127179 deg/s, posRepo size: 4
2021-08-14T20:06:56.183Z,1628971616.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:06:56.584Z,1628971616.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:06:56.585Z,1628971616.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:06:56.586Z,1628971616.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:06:56.587Z,1628971616.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:06:56.981Z,1628971616.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,003C8,185,80,80,97,FF
2021-08-14T20:06:56.982Z,1628971616.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:06:56.982Z,1628971616.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:06:56.989Z,1628971616.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:06:57.380Z,1628971617.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:06:57.781Z,1628971617.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,003DF,186,80,80,9C,FF
2021-08-14T20:06:57.781Z,1628971617.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:06:57.844Z,1628971617.844 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:06:58.213Z,1628971618.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200658.99*57

2021-08-14T20:06:58.244Z,1628971618.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 100.640556 deg, deltaT: 4.456727 s, approachRate: 0.309644 m/s, LOS rate: -1.983727 deg/s, posRepo size: 4
2021-08-14T20:07:00.665Z,1628971620.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:01.053Z,1628971621.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:01.053Z,1628971621.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:01.053Z,1628971621.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:01.054Z,1628971621.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:01.417Z,1628971621.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,003DF,186,80,80,9C,FF
2021-08-14T20:07:01.417Z,1628971621.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:01.417Z,1628971621.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:01.419Z,1628971621.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:01.833Z,1628971621.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:02.229Z,1628971622.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,006E3,187,80,80,16,FF
2021-08-14T20:07:02.229Z,1628971622.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:02.294Z,1628971622.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:02.681Z,1628971622.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200703.42*5E

2021-08-14T20:07:02.746Z,1628971622.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.279999 m, bearing: 73.324410 deg, deltaT: 4.450241 s, approachRate: 10.408425 m/s, LOS rate: -6.138128 deg/s, posRepo size: 4
2021-08-14T20:07:03.107Z,1628971623.107 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:07:03.107Z,1628971623.107 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:07:03.107Z,1628971623.107 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:07:03.108Z,1628971623.108 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:07:03.108Z,1628971623.108 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:07:03.108Z,1628971623.108 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:07:03.472Z,1628971623.472 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:07:03.472Z,1628971623.472 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:07:03.473Z,1628971623.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:07:03.473Z,1628971623.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:07:05.103Z,1628971625.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:05.458Z,1628971625.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:05.458Z,1628971625.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:05.458Z,1628971625.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:05.459Z,1628971625.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:05.861Z,1628971625.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,006E3,187,80,80,16,FF
2021-08-14T20:07:05.861Z,1628971625.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:05.861Z,1628971625.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:05.863Z,1628971625.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:06.269Z,1628971626.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:06.669Z,1628971626.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003F2,189,80,80,A5,FF
2021-08-14T20:07:06.670Z,1628971626.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:07.105Z,1628971627.105 [Micromodem](INFO): Nmea in: $SNTTA,0.040095,,,,200707.86*44

2021-08-14T20:07:07.198Z,1628971627.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 16.005925 deg, deltaT: 4.445869 s, approachRate: -10.162243 m/s, LOS rate: -12.892526 deg/s, posRepo size: 4
2021-08-14T20:07:07.521Z,1628971627.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:07:07.521Z,1628971627.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:07:07.522Z,1628971627.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:07:07.522Z,1628971627.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:07:07.522Z,1628971627.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:07:07.522Z,1628971627.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:07:07.923Z,1628971627.923 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:07:07.923Z,1628971627.923 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:07:07.924Z,1628971627.924 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:07:07.924Z,1628971627.924 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:07:09.519Z,1628971629.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:09.909Z,1628971629.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:09.909Z,1628971629.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:09.910Z,1628971629.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:09.911Z,1628971629.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:10.313Z,1628971630.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003F2,189,80,80,A5,FF
2021-08-14T20:07:10.314Z,1628971630.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:10.314Z,1628971630.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:10.315Z,1628971630.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:10.769Z,1628971630.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:11.129Z,1628971631.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EA,189,80,80,93,FF
2021-08-14T20:07:11.130Z,1628971631.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:11.189Z,1628971631.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:11.565Z,1628971631.565 [Micromodem](INFO): Nmea in: $SNTTA,0.033280,,,,200712.32*4D

2021-08-14T20:07:11.629Z,1628971631.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 359.316527 deg, deltaT: 4.449235 s, approachRate: -0.107883 m/s, LOS rate: -3.751070 deg/s, posRepo size: 4
2021-08-14T20:07:13.989Z,1628971633.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:14.353Z,1628971634.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:14.354Z,1628971634.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:14.354Z,1628971634.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:14.355Z,1628971634.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:14.765Z,1628971634.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003EA,189,80,80,93,FF
2021-08-14T20:07:14.765Z,1628971634.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:14.765Z,1628971634.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:14.767Z,1628971634.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:15.173Z,1628971635.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:15.565Z,1628971635.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,003E2,189,80,80,8B,FF
2021-08-14T20:07:15.566Z,1628971635.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:15.632Z,1628971635.632 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:16.010Z,1628971636.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200716.76*5D

2021-08-14T20:07:16.040Z,1628971636.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 358.719978 deg, deltaT: 4.446608 s, approachRate: -0.107947 m/s, LOS rate: -0.134158 deg/s, posRepo size: 4
2021-08-14T20:07:18.420Z,1628971638.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:18.801Z,1628971638.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:18.801Z,1628971638.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:18.801Z,1628971638.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:18.802Z,1628971638.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:19.213Z,1628971639.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,003E2,189,80,80,8B,FF
2021-08-14T20:07:19.213Z,1628971639.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:19.213Z,1628971639.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:19.215Z,1628971639.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:19.609Z,1628971639.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:20.013Z,1628971640.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,003CF,189,80,80,6C,FF
2021-08-14T20:07:20.014Z,1628971640.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:20.068Z,1628971640.068 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:20.442Z,1628971640.442 [Micromodem](INFO): Nmea in: $SNTTA,0.032628,,,,200721.21*48

2021-08-14T20:07:20.481Z,1628971640.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 356.383152 deg, deltaT: 4.432412 s, approachRate: -0.257197 m/s, LOS rate: -0.527213 deg/s, posRepo size: 4
2021-08-14T20:07:22.880Z,1628971642.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:23.251Z,1628971643.251 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:23.251Z,1628971643.251 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:23.251Z,1628971643.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:23.252Z,1628971643.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:23.661Z,1628971643.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,003CF,189,80,80,6C,FF
2021-08-14T20:07:23.661Z,1628971643.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:23.662Z,1628971643.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:23.665Z,1628971643.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:24.060Z,1628971644.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:24.462Z,1628971644.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,003AA,185,80,80,BA,FF
2021-08-14T20:07:24.462Z,1628971644.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:24.500Z,1628971644.500 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:24.893Z,1628971644.893 [Micromodem](INFO): Nmea in: $SNTTA,0.028437,,,,200725.66*48

2021-08-14T20:07:24.971Z,1628971644.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 349.840650 deg, deltaT: 4.431746 s, approachRate: -0.500932 m/s, LOS rate: -1.476281 deg/s, posRepo size: 4
2021-08-14T20:07:27.359Z,1628971647.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:27.691Z,1628971647.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:27.691Z,1628971647.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:27.691Z,1628971647.691 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:27.692Z,1628971647.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:28.101Z,1628971648.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,003AA,185,80,80,BA,FF
2021-08-14T20:07:28.101Z,1628971648.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:28.101Z,1628971648.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:28.103Z,1628971648.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:28.505Z,1628971648.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:28.909Z,1628971648.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,0038D,184,80,80,92,FF
2021-08-14T20:07:28.910Z,1628971648.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:29.051Z,1628971649.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:29.321Z,1628971649.321 [Micromodem](INFO): Nmea in: 200730,AUV,2.1.4000*2C

2021-08-14T20:07:29.321Z,1628971649.321 [Micromodem](ERROR): Response from modem failed NMEA checksum: 200730,AUV,2.1.4000*2C
 expected 0
2021-08-14T20:07:29.368Z,1628971649.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 351.666988 deg, deltaT: 4.550989 s, approachRate: -0.382334 m/s, LOS rate: 0.401306 deg/s, posRepo size: 4
2021-08-14T20:07:31.771Z,1628971651.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:32.149Z,1628971652.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:32.149Z,1628971652.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:32.149Z,1628971652.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:32.150Z,1628971652.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:32.539Z,1628971652.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,0038D,184,80,80,92,FF
2021-08-14T20:07:32.539Z,1628971652.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:32.539Z,1628971652.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:32.541Z,1628971652.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:32.997Z,1628971652.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:33.350Z,1628971653.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00369,185,80,80,AA,FF
2021-08-14T20:07:33.350Z,1628971653.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:33.371Z,1628971653.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:33.793Z,1628971653.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200734.54*5D

2021-08-14T20:07:33.851Z,1628971653.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 353.622553 deg, deltaT: 4.320039 s, approachRate: -0.499995 m/s, LOS rate: 0.452673 deg/s, posRepo size: 4
2021-08-14T20:07:36.207Z,1628971656.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:36.592Z,1628971656.592 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:36.593Z,1628971656.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:36.593Z,1628971656.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:36.596Z,1628971656.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:37.015Z,1628971657.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00369,185,80,80,AA,FF
2021-08-14T20:07:37.015Z,1628971657.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:37.015Z,1628971657.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:37.021Z,1628971657.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:37.408Z,1628971657.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:37.854Z,1628971657.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00343,184,80,80,AD,FF
2021-08-14T20:07:37.855Z,1628971657.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:37.911Z,1628971657.911 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:38.233Z,1628971658.233 [Micromodem](INFO): Nmea in: $SNTTA,0.037096,,,,200739.02*46

2021-08-14T20:07:38.261Z,1628971658.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 354.543126 deg, deltaT: 4.544741 s, approachRate: -0.501679 m/s, LOS rate: 0.202558 deg/s, posRepo size: 4
2021-08-14T20:07:40.681Z,1628971660.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:41.074Z,1628971661.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:41.074Z,1628971661.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:41.074Z,1628971661.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:41.075Z,1628971661.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:41.446Z,1628971661.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00343,184,80,80,AD,FF
2021-08-14T20:07:41.446Z,1628971661.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:41.446Z,1628971661.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:41.449Z,1628971661.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:41.851Z,1628971661.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:42.246Z,1628971662.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,00320,187,80,80,A9,FF
2021-08-14T20:07:42.246Z,1628971662.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:42.271Z,1628971662.271 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:42.690Z,1628971662.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200743.44*5C

2021-08-14T20:07:42.730Z,1628971662.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 358.729786 deg, deltaT: 4.354921 s, approachRate: -0.482212 m/s, LOS rate: 0.961363 deg/s, posRepo size: 4
2021-08-14T20:07:45.143Z,1628971665.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:45.485Z,1628971665.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:45.485Z,1628971665.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:45.485Z,1628971665.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:45.486Z,1628971665.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:45.908Z,1628971665.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,00320,187,80,80,A9,FF
2021-08-14T20:07:45.909Z,1628971665.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:45.909Z,1628971665.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:45.917Z,1628971665.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:46.289Z,1628971666.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:46.702Z,1628971666.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,002FC,186,80,80,8B,FF
2021-08-14T20:07:46.703Z,1628971666.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:46.792Z,1628971666.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:47.105Z,1628971667.105 [Micromodem](INFO): Nmea in: $SNTTA,0.024195,0.430612,,,200747.91*59

2021-08-14T20:07:47.156Z,1628971667.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.339999 m, bearing: 2.180803 deg, deltaT: 4.521745 s, approachRate: -0.477692 m/s, LOS rate: 0.763203 deg/s, posRepo size: 4
2021-08-14T20:07:49.544Z,1628971669.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:49.921Z,1628971669.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:49.921Z,1628971669.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:49.921Z,1628971669.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:49.922Z,1628971669.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:50.325Z,1628971670.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,002FC,186,80,80,8B,FF
2021-08-14T20:07:50.325Z,1628971670.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:50.325Z,1628971670.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:50.327Z,1628971670.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:50.732Z,1628971670.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:51.133Z,1628971671.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,002E1,187,80,80,B1,FF
2021-08-14T20:07:51.134Z,1628971671.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:07:51.198Z,1628971671.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:07:51.601Z,1628971671.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200752.32*5D

2021-08-14T20:07:51.666Z,1628971671.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.719998 m, bearing: 12.928153 deg, deltaT: 4.405363 s, approachRate: -0.367734 m/s, LOS rate: 2.439606 deg/s, posRepo size: 4
2021-08-14T20:07:53.983Z,1628971673.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:54.366Z,1628971674.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:07:54.366Z,1628971674.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:07:54.367Z,1628971674.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:07:54.367Z,1628971674.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:07:54.769Z,1628971674.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,002E1,187,80,80,B1,FF
2021-08-14T20:07:54.769Z,1628971674.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:07:54.769Z,1628971674.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:07:54.771Z,1628971674.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:07:55.180Z,1628971675.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:07:56.014Z,1628971676.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200756.77*58

2021-08-14T20:07:56.850Z,1628971676.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:07:58.409Z,1628971678.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,B1,FF
2021-08-14T20:07:58.409Z,1628971678.409 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,B1,FF
2021-08-14T20:07:58.409Z,1628971678.409 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:07:59.685Z,1628971679.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:00.029Z,1628971680.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:00.029Z,1628971680.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:00.029Z,1628971680.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:00.030Z,1628971680.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:00.425Z,1628971680.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,B1,FF
2021-08-14T20:08:00.425Z,1628971680.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:00.425Z,1628971680.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:00.427Z,1628971680.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:00.842Z,1628971680.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:01.237Z,1628971681.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,002C6,187,80,80,82,FF
2021-08-14T20:08:01.237Z,1628971681.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:01.310Z,1628971681.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:01.697Z,1628971681.697 [Micromodem](INFO): Nmea in: $SNTTA,,0.207714,,,200802.44*4F

2021-08-14T20:08:01.727Z,1628971681.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 17.834596 deg, deltaT: 10.112602 s, approachRate: -0.160196 m/s, LOS rate: 0.485181 deg/s, posRepo size: 4
2021-08-14T20:08:04.083Z,1628971684.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:04.473Z,1628971684.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:04.473Z,1628971684.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:04.473Z,1628971684.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:04.474Z,1628971684.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:04.865Z,1628971684.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,002C6,187,80,80,82,FF
2021-08-14T20:08:04.866Z,1628971684.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:04.866Z,1628971684.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:04.867Z,1628971684.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:05.277Z,1628971685.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:05.681Z,1628971685.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,002D5,185,80,80,AC,FF
2021-08-14T20:08:05.682Z,1628971685.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:05.749Z,1628971685.749 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:06.122Z,1628971686.122 [Micromodem](INFO): Nmea in: $SNTTA,0.050591,,,,200806.87*4B

2021-08-14T20:08:06.144Z,1628971686.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 15.208924 deg, deltaT: 4.438386 s, approachRate: 0.202776 m/s, LOS rate: -0.591583 deg/s, posRepo size: 4
2021-08-14T20:08:08.527Z,1628971688.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:08.909Z,1628971688.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:08.909Z,1628971688.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:08.909Z,1628971688.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:08.910Z,1628971688.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:09.325Z,1628971689.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,002D5,185,80,80,AC,FF
2021-08-14T20:08:09.325Z,1628971689.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:09.325Z,1628971689.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:09.327Z,1628971689.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:09.735Z,1628971689.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:10.121Z,1628971690.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,002F5,187,80,80,AA,FF
2021-08-14T20:08:10.122Z,1628971690.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:10.142Z,1628971690.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:10.557Z,1628971690.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200811.32*55

2021-08-14T20:08:10.631Z,1628971690.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.919999 m, bearing: 19.901409 deg, deltaT: 4.392764 s, approachRate: 0.437083 m/s, LOS rate: 1.068231 deg/s, posRepo size: 4
2021-08-14T20:08:13.043Z,1628971693.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:13.353Z,1628971693.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:13.354Z,1628971693.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:13.354Z,1628971693.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:13.355Z,1628971693.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:13.757Z,1628971693.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,002F5,187,80,80,AA,FF
2021-08-14T20:08:13.757Z,1628971693.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:13.757Z,1628971693.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:13.759Z,1628971693.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:14.176Z,1628971694.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:14.577Z,1628971694.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00314,186,80,80,96,FF
2021-08-14T20:08:14.578Z,1628971694.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:14.653Z,1628971694.653 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:15.045Z,1628971695.045 [Micromodem](INFO): Nmea in: $SNTTA,0.030819,,,,200815.76*4C

2021-08-14T20:08:15.094Z,1628971695.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 18.393035 deg, deltaT: 4.511792 s, approachRate: 0.412254 m/s, LOS rate: -0.334318 deg/s, posRepo size: 4
2021-08-14T20:08:17.427Z,1628971697.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:17.805Z,1628971697.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:17.805Z,1628971697.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:17.805Z,1628971697.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:17.806Z,1628971697.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:18.209Z,1628971698.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00314,186,80,80,96,FF
2021-08-14T20:08:18.209Z,1628971698.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:18.209Z,1628971698.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:18.211Z,1628971698.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:18.628Z,1628971698.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:19.065Z,1628971699.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00354,187,80,80,78,FF
2021-08-14T20:08:19.066Z,1628971699.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:19.126Z,1628971699.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:19.438Z,1628971699.438 [Micromodem](INFO): Nmea in: $SNTTA,0.029620,,,,200820.21*44

2021-08-14T20:08:19.482Z,1628971699.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 17.873441 deg, deltaT: 4.472366 s, approachRate: 0.858605 m/s, LOS rate: -0.116179 deg/s, posRepo size: 4
2021-08-14T20:08:21.885Z,1628971701.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:22.281Z,1628971702.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:22.281Z,1628971702.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:22.281Z,1628971702.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:22.282Z,1628971702.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:22.665Z,1628971702.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00354,187,80,80,78,FF
2021-08-14T20:08:22.666Z,1628971702.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:22.666Z,1628971702.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:22.667Z,1628971702.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:23.072Z,1628971703.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:23.473Z,1628971703.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,00378,187,80,80,72,FF
2021-08-14T20:08:23.473Z,1628971703.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:23.589Z,1628971703.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:23.918Z,1628971703.918 [Micromodem](INFO): Nmea in: $SNTTA,0.031294,,,,200824.66*41

2021-08-14T20:08:23.948Z,1628971703.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 21.771250 deg, deltaT: 4.463784 s, approachRate: 0.483894 m/s, LOS rate: 0.873208 deg/s, posRepo size: 4
2021-08-14T20:08:26.340Z,1628971706.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:26.705Z,1628971706.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:26.705Z,1628971706.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:26.705Z,1628971706.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:26.706Z,1628971706.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:27.102Z,1628971707.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,00378,187,80,80,72,FF
2021-08-14T20:08:27.102Z,1628971707.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:27.102Z,1628971707.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:27.108Z,1628971707.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:27.513Z,1628971707.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:28.330Z,1628971708.330 [Micromodem](INFO): Nmea in: $SNTTA,0.073066,,,,200829.10*44

2021-08-14T20:08:28.729Z,1628971708.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00378,187,80,80,72,FF
2021-08-14T20:08:28.729Z,1628971708.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:28.791Z,1628971708.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:29.181Z,1628971709.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 4.088709 deg, deltaT: 5.201471 s, approachRate: 0.000000 m/s, LOS rate: -3.399527 deg/s, posRepo size: 4
2021-08-14T20:08:31.618Z,1628971711.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:31.953Z,1628971711.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:31.954Z,1628971711.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:31.954Z,1628971711.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:31.955Z,1628971711.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:32.364Z,1628971712.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00378,187,80,80,72,FF
2021-08-14T20:08:32.364Z,1628971712.364 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:32.365Z,1628971712.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:32.369Z,1628971712.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:32.771Z,1628971712.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:33.594Z,1628971713.594 [Micromodem](INFO): Nmea in: $SNTTA,0.036534,,,,200834.37*4E

2021-08-14T20:08:34.419Z,1628971714.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:36.001Z,1628971716.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,72,FF
2021-08-14T20:08:36.002Z,1628971716.002 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,72,FF
2021-08-14T20:08:36.002Z,1628971716.002 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:08:37.300Z,1628971717.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:37.618Z,1628971717.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:37.618Z,1628971717.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:37.618Z,1628971717.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:37.619Z,1628971717.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:38.089Z,1628971718.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,72,FF
2021-08-14T20:08:38.089Z,1628971718.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:38.089Z,1628971718.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:38.091Z,1628971718.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:38.417Z,1628971718.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:38.825Z,1628971718.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,003F1,186,80,80,27,FF
2021-08-14T20:08:38.825Z,1628971718.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:38.876Z,1628971718.876 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:39.233Z,1628971719.233 [Micromodem](INFO): Nmea in: $SNTTA,0.032588,0.340323,,,200840.09*58

2021-08-14T20:08:39.281Z,1628971719.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 11.007676 deg, deltaT: 10.085149 s, approachRate: 0.719871 m/s, LOS rate: 0.686055 deg/s, posRepo size: 4
2021-08-14T20:08:41.701Z,1628971721.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:42.061Z,1628971722.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:42.061Z,1628971722.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:42.061Z,1628971722.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:42.062Z,1628971722.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:42.458Z,1628971722.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,003F1,186,80,80,27,FF
2021-08-14T20:08:42.458Z,1628971722.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:42.458Z,1628971722.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:42.461Z,1628971722.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:42.876Z,1628971722.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:43.270Z,1628971723.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00419,186,80,80,66,FF
2021-08-14T20:08:43.270Z,1628971723.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:43.273Z,1628971723.273 [Micromodem](INFO): Nmea in: $SNTTA,0.053898,0.157327,,,200844.46*5C

2021-08-14T20:08:43.328Z,1628971723.328 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:43.711Z,1628971723.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 5.115931 deg, deltaT: 4.451821 s, approachRate: 0.539106 m/s, LOS rate: -1.323446 deg/s, posRepo size: 4
2021-08-14T20:08:46.148Z,1628971726.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:46.506Z,1628971726.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:46.506Z,1628971726.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:46.506Z,1628971726.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:46.507Z,1628971726.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:46.919Z,1628971726.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00419,186,80,80,66,FF
2021-08-14T20:08:46.919Z,1628971726.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:46.919Z,1628971726.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:46.922Z,1628971726.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:47.329Z,1628971727.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:47.714Z,1628971727.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,0044C,185,80,80,6E,FF
2021-08-14T20:08:47.715Z,1628971727.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:47.770Z,1628971727.770 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:48.149Z,1628971728.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200848.92*53

2021-08-14T20:08:48.172Z,1628971728.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 0.390525 deg, deltaT: 4.442075 s, approachRate: 0.688867 m/s, LOS rate: -1.063784 deg/s, posRepo size: 4
2021-08-14T20:08:50.551Z,1628971730.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:50.953Z,1628971730.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:50.953Z,1628971730.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:50.954Z,1628971730.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:50.955Z,1628971730.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:51.341Z,1628971731.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,0044C,185,80,80,6E,FF
2021-08-14T20:08:51.341Z,1628971731.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:51.341Z,1628971731.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:51.343Z,1628971731.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:51.753Z,1628971731.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:52.586Z,1628971732.586 [Micromodem](INFO): Nmea in: $SNTTA,0.043631,,,,200853.34*48

2021-08-14T20:08:53.422Z,1628971733.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:55.014Z,1628971735.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,185,80,80,6E,FF
2021-08-14T20:08:55.014Z,1628971735.014 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,185,80,80,6E,FF
2021-08-14T20:08:55.014Z,1628971735.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:08:55.923Z,1628971735.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:08:56.205Z,1628971736.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:08:56.205Z,1628971736.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:08:56.205Z,1628971736.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:08:56.206Z,1628971736.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:08:56.606Z,1628971736.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,185,80,80,6E,FF
2021-08-14T20:08:56.607Z,1628971736.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:08:56.608Z,1628971736.608 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:08:56.645Z,1628971736.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:08:57.048Z,1628971737.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:08:57.401Z,1628971737.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,004B2,185,80,80,7D,FF
2021-08-14T20:08:57.402Z,1628971737.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:08:57.422Z,1628971737.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:08:57.819Z,1628971737.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200858.64*5B

2021-08-14T20:08:57.871Z,1628971737.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 8.580307 deg, deltaT: 9.651918 s, approachRate: 0.634071 m/s, LOS rate: 0.848513 deg/s, posRepo size: 4
2021-08-14T20:09:00.254Z,1628971740.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:00.661Z,1628971740.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:00.661Z,1628971740.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:00.661Z,1628971740.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:00.662Z,1628971740.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:01.053Z,1628971741.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,004B2,185,80,80,7D,FF
2021-08-14T20:09:01.053Z,1628971741.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:01.053Z,1628971741.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:01.055Z,1628971741.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:01.447Z,1628971741.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:01.850Z,1628971741.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,004DB,185,80,80,6D,FF
2021-08-14T20:09:01.850Z,1628971741.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:01.880Z,1628971741.880 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:09:02.305Z,1628971742.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200903.05*53

2021-08-14T20:09:02.345Z,1628971742.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 358.631486 deg, deltaT: 4.458230 s, approachRate: 0.551788 m/s, LOS rate: -2.231562 deg/s, posRepo size: 4
2021-08-14T20:09:04.706Z,1628971744.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:05.073Z,1628971745.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:05.073Z,1628971745.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:05.073Z,1628971745.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:05.074Z,1628971745.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:05.497Z,1628971745.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,004DB,185,80,80,6D,FF
2021-08-14T20:09:05.497Z,1628971745.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:05.497Z,1628971745.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:05.499Z,1628971745.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:05.898Z,1628971745.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:06.289Z,1628971746.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0050B,185,80,80,56,FF
2021-08-14T20:09:06.289Z,1628971746.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:06.341Z,1628971746.341 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:09:06.745Z,1628971746.745 [Micromodem](INFO): Nmea in: $SNTTA,0.053476,,,,200907.50*4A

2021-08-14T20:09:06.771Z,1628971746.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 357.818475 deg, deltaT: 4.460822 s, approachRate: 0.645620 m/s, LOS rate: -0.182256 deg/s, posRepo size: 4
2021-08-14T20:09:09.169Z,1628971749.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:09.523Z,1628971749.523 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:09.523Z,1628971749.523 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:09.523Z,1628971749.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:09.525Z,1628971749.525 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:09.933Z,1628971749.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0050B,185,80,80,56,FF
2021-08-14T20:09:09.933Z,1628971749.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:09.934Z,1628971749.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:09.935Z,1628971749.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:10.333Z,1628971750.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:10.729Z,1628971750.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0053B,184,80,80,67,FF
2021-08-14T20:09:10.730Z,1628971750.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:10.780Z,1628971750.780 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:09:11.157Z,1628971751.157 [Micromodem](INFO): Nmea in: $SNTTA,0.120344,0.460413,,,200911.93*5B

2021-08-14T20:09:11.217Z,1628971751.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 352.477677 deg, deltaT: 4.439278 s, approachRate: 0.648754 m/s, LOS rate: -1.203078 deg/s, posRepo size: 4
2021-08-14T20:09:11.574Z,1628971751.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:09:11.574Z,1628971751.574 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:09:11.575Z,1628971751.575 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:09:11.577Z,1628971751.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:09:11.577Z,1628971751.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:09:11.577Z,1628971751.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:09:11.985Z,1628971751.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:09:11.985Z,1628971751.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:09:11.985Z,1628971751.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:09:11.985Z,1628971751.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:09:13.630Z,1628971753.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:13.965Z,1628971753.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:13.965Z,1628971753.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:13.965Z,1628971753.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:13.966Z,1628971753.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:14.374Z,1628971754.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0053B,184,80,80,67,FF
2021-08-14T20:09:14.374Z,1628971754.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:14.374Z,1628971754.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:14.376Z,1628971754.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:14.781Z,1628971754.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:14.806Z,1628971754.806 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:09:15.177Z,1628971755.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00567,186,80,80,82,FF
2021-08-14T20:09:15.177Z,1628971755.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:15.637Z,1628971755.637 [Micromodem](INFO): Nmea in: $SNTTA,0.043211,,,,200916.38*42

2021-08-14T20:09:15.693Z,1628971755.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 348.958599 deg, deltaT: 4.482323 s, approachRate: 0.588979 m/s, LOS rate: -0.785101 deg/s, posRepo size: 4
2021-08-14T20:09:18.034Z,1628971758.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:18.405Z,1628971758.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:18.405Z,1628971758.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:18.405Z,1628971758.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:18.406Z,1628971758.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:18.813Z,1628971758.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00567,186,80,80,82,FF
2021-08-14T20:09:18.813Z,1628971758.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:18.814Z,1628971758.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:18.815Z,1628971758.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:19.231Z,1628971759.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:19.653Z,1628971759.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,0058F,183,80,80,9A,FF
2021-08-14T20:09:19.654Z,1628971759.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:20.062Z,1628971760.062 [Micromodem](INFO): Nmea in: $SNTTA,0.078711,,,,200920.82*4B

2021-08-14T20:09:20.084Z,1628971760.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 356.488664 deg, deltaT: 4.421536 s, approachRate: 0.542799 m/s, LOS rate: 1.703043 deg/s, posRepo size: 4
2021-08-14T20:09:21.706Z,1628971761.706 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:09:22.479Z,1628971762.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:22.849Z,1628971762.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:22.849Z,1628971762.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:22.849Z,1628971762.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:22.850Z,1628971762.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:23.257Z,1628971763.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,0058F,183,80,80,9A,FF
2021-08-14T20:09:23.257Z,1628971763.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:23.258Z,1628971763.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:23.259Z,1628971763.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:23.665Z,1628971763.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:24.073Z,1628971764.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,005BC,187,80,80,75,FF
2021-08-14T20:09:24.074Z,1628971764.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:24.513Z,1628971764.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200925.26*56

2021-08-14T20:09:24.536Z,1628971764.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 1.369311 deg, deltaT: 4.429529 s, approachRate: 0.609546 m/s, LOS rate: 1.101844 deg/s, posRepo size: 4
2021-08-14T20:09:26.936Z,1628971766.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:27.296Z,1628971767.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:27.297Z,1628971767.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:27.297Z,1628971767.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:27.298Z,1628971767.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:27.701Z,1628971767.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,005BC,187,80,80,75,FF
2021-08-14T20:09:27.701Z,1628971767.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:27.701Z,1628971767.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:27.703Z,1628971767.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:28.109Z,1628971768.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:28.509Z,1628971768.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,005E9,184,80,80,99,FF
2021-08-14T20:09:28.509Z,1628971768.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:28.969Z,1628971768.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200929.70*59

2021-08-14T20:09:29.037Z,1628971769.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 354.505642 deg, deltaT: 4.415362 s, approachRate: 0.611502 m/s, LOS rate: -1.554499 deg/s, posRepo size: 4
2021-08-14T20:09:31.087Z,1628971771.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:31.349Z,1628971771.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:31.349Z,1628971771.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:31.349Z,1628971771.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:31.350Z,1628971771.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:31.750Z,1628971771.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,005E9,184,80,80,99,FF
2021-08-14T20:09:31.750Z,1628971771.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:31.750Z,1628971771.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:31.751Z,1628971771.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:32.148Z,1628971772.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:32.561Z,1628971772.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00611,185,80,80,94,FF
2021-08-14T20:09:32.561Z,1628971772.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:33.004Z,1628971773.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200933.75*57

2021-08-14T20:09:33.078Z,1628971773.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 354.000317 deg, deltaT: 4.098656 s, approachRate: 0.585557 m/s, LOS rate: -0.123290 deg/s, posRepo size: 4
2021-08-14T20:09:35.412Z,1628971775.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:35.797Z,1628971775.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:35.797Z,1628971775.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:35.797Z,1628971775.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:35.798Z,1628971775.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:36.185Z,1628971776.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00611,185,80,80,94,FF
2021-08-14T20:09:36.185Z,1628971776.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:36.186Z,1628971776.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:36.187Z,1628971776.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:36.625Z,1628971776.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:37.039Z,1628971777.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00641,183,80,80,6F,FF
2021-08-14T20:09:37.041Z,1628971777.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:37.049Z,1628971777.049 [Micromodem](INFO): Nmea in: $SNTTA,0.050668,0.334478,,,200938.19*54

2021-08-14T20:09:37.454Z,1628971777.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.559998 m, bearing: 356.068225 deg, deltaT: 4.511131 s, approachRate: 0.638420 m/s, LOS rate: 0.458401 deg/s, posRepo size: 4
2021-08-14T20:09:39.865Z,1628971779.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:40.237Z,1628971780.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:40.237Z,1628971780.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:40.237Z,1628971780.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:40.238Z,1628971780.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:40.653Z,1628971780.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00641,183,80,80,6F,FF
2021-08-14T20:09:40.653Z,1628971780.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:40.654Z,1628971780.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:40.655Z,1628971780.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:41.061Z,1628971781.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:41.466Z,1628971781.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00667,183,80,80,3E,FF
2021-08-14T20:09:41.466Z,1628971781.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:41.862Z,1628971781.862 [Micromodem](INFO): Nmea in: $SNTTA,0.050245,,,,200942.66*4B

2021-08-14T20:09:41.910Z,1628971781.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.840000 m, bearing: 356.893230 deg, deltaT: 4.351995 s, approachRate: 0.523898 m/s, LOS rate: 0.189569 deg/s, posRepo size: 4
2021-08-14T20:09:44.307Z,1628971784.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:44.669Z,1628971784.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:44.669Z,1628971784.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:44.670Z,1628971784.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:44.671Z,1628971784.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:45.080Z,1628971785.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00667,183,80,80,3E,FF
2021-08-14T20:09:45.080Z,1628971785.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:45.081Z,1628971785.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:45.082Z,1628971785.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:45.507Z,1628971785.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:45.885Z,1628971785.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00691,184,80,80,69,FF
2021-08-14T20:09:45.886Z,1628971785.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:46.322Z,1628971786.322 [Micromodem](INFO): Nmea in: $SNTTA,0.062934,,,,200947.08*4A

2021-08-14T20:09:46.372Z,1628971786.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 352.628761 deg, deltaT: 4.479833 s, approachRate: 0.562521 m/s, LOS rate: -0.951926 deg/s, posRepo size: 4
2021-08-14T20:09:48.793Z,1628971788.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:49.117Z,1628971789.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:49.117Z,1628971789.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:49.117Z,1628971789.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:49.118Z,1628971789.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:49.521Z,1628971789.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00691,184,80,80,69,FF
2021-08-14T20:09:49.521Z,1628971789.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:49.521Z,1628971789.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:49.523Z,1628971789.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:49.929Z,1628971789.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:50.333Z,1628971790.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,006BA,185,80,80,54,FF
2021-08-14T20:09:50.334Z,1628971790.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:50.773Z,1628971790.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200951.52*56

2021-08-14T20:09:50.812Z,1628971790.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 357.578845 deg, deltaT: 4.429856 s, approachRate: 0.555323 m/s, LOS rate: 1.117437 deg/s, posRepo size: 4
2021-08-14T20:09:53.197Z,1628971793.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:53.565Z,1628971793.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:53.565Z,1628971793.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:53.565Z,1628971793.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:53.566Z,1628971793.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:53.965Z,1628971793.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,006BA,185,80,80,54,FF
2021-08-14T20:09:53.965Z,1628971793.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:53.966Z,1628971793.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:53.967Z,1628971793.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:54.418Z,1628971794.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:54.818Z,1628971794.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,006DF,184,80,80,57,FF
2021-08-14T20:09:54.818Z,1628971794.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:55.242Z,1628971795.242 [Micromodem](INFO): Nmea in: $SNTTA,0.083244,0.445099,,,200955.97*57

2021-08-14T20:09:55.314Z,1628971795.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 353.133867 deg, deltaT: 4.447626 s, approachRate: 0.499143 m/s, LOS rate: -0.999405 deg/s, posRepo size: 4
2021-08-14T20:09:57.729Z,1628971797.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:09:58.047Z,1628971798.047 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:09:58.047Z,1628971798.047 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:09:58.047Z,1628971798.047 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:09:58.048Z,1628971798.048 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:09:58.465Z,1628971798.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,006DF,184,80,80,57,FF
2021-08-14T20:09:58.465Z,1628971798.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:09:58.465Z,1628971798.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:09:58.467Z,1628971798.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:09:58.866Z,1628971798.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:09:59.257Z,1628971799.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00708,184,80,80,61,FF
2021-08-14T20:09:59.258Z,1628971799.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:09:59.261Z,1628971799.261 [Micromodem](INFO): Nmea in: $SNTTA,0.056320,0.154027,,,201000.46*58

2021-08-14T20:09:59.698Z,1628971799.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 357.989803 deg, deltaT: 4.538423 s, approachRate: 0.542038 m/s, LOS rate: 1.069961 deg/s, posRepo size: 4
2021-08-14T20:10:02.103Z,1628971802.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:02.497Z,1628971802.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:02.497Z,1628971802.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:02.498Z,1628971802.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:02.499Z,1628971802.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:02.906Z,1628971802.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00708,184,80,80,61,FF
2021-08-14T20:10:02.906Z,1628971802.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:02.906Z,1628971802.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:02.908Z,1628971802.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:03.301Z,1628971803.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:03.701Z,1628971803.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0072C,188,80,80,77,FF
2021-08-14T20:10:03.702Z,1628971803.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:04.137Z,1628971804.137 [Micromodem](INFO): Nmea in: $SNTTA,0.060047,,,,201004.91*4A

2021-08-14T20:10:04.183Z,1628971804.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.660004 m, bearing: 328.136768 deg, deltaT: 4.345581 s, approachRate: 0.497057 m/s, LOS rate: -6.869745 deg/s, posRepo size: 4
2021-08-14T20:10:06.578Z,1628971806.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:06.937Z,1628971806.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:06.937Z,1628971806.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:06.937Z,1628971806.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:06.938Z,1628971806.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:07.369Z,1628971807.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0072C,188,80,80,77,FF
2021-08-14T20:10:07.369Z,1628971807.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:07.369Z,1628971807.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:07.371Z,1628971807.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:07.859Z,1628971807.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:08.654Z,1628971808.654 [Micromodem](INFO): Nmea in: $SNTTA,0.060923,,,,201009.37*40

2021-08-14T20:10:09.134Z,1628971809.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:10.670Z,1628971810.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,77,FF
2021-08-14T20:10:10.670Z,1628971810.670 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,77,FF
2021-08-14T20:10:10.670Z,1628971810.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:10:11.925Z,1628971811.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:12.285Z,1628971812.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:12.285Z,1628971812.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:12.285Z,1628971812.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:12.286Z,1628971812.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:12.693Z,1628971812.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,77,FF
2021-08-14T20:10:12.693Z,1628971812.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:12.694Z,1628971812.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:12.695Z,1628971812.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:13.101Z,1628971813.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:13.501Z,1628971813.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,00784,186,80,80,93,FF
2021-08-14T20:10:13.502Z,1628971813.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:13.941Z,1628971813.941 [Micromodem](INFO): Nmea in: $SNTTA,,0.039173,,,201014.70*4E

2021-08-14T20:10:14.019Z,1628971814.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.939995 m, bearing: 338.561658 deg, deltaT: 9.790819 s, approachRate: 0.539280 m/s, LOS rate: 1.064762 deg/s, posRepo size: 4
2021-08-14T20:10:16.388Z,1628971816.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:16.729Z,1628971816.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:16.730Z,1628971816.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:16.730Z,1628971816.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:16.731Z,1628971816.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:17.142Z,1628971817.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,00784,186,80,80,93,FF
2021-08-14T20:10:17.142Z,1628971817.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:17.142Z,1628971817.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:17.144Z,1628971817.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:17.541Z,1628971817.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:17.945Z,1628971817.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,007A8,186,80,80,96,FF
2021-08-14T20:10:17.946Z,1628971817.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:18.384Z,1628971818.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201019.14*50

2021-08-14T20:10:18.424Z,1628971818.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 10.006489 deg, deltaT: 4.478457 s, approachRate: 0.482311 m/s, LOS rate: 7.021356 deg/s, posRepo size: 4
2021-08-14T20:10:20.812Z,1628971820.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:21.173Z,1628971821.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:21.174Z,1628971821.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:21.174Z,1628971821.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:21.175Z,1628971821.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:21.589Z,1628971821.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,007A8,186,80,80,96,FF
2021-08-14T20:10:21.589Z,1628971821.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:21.590Z,1628971821.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:21.602Z,1628971821.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:21.990Z,1628971821.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:22.389Z,1628971822.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,007D2,186,80,80,87,FF
2021-08-14T20:10:22.390Z,1628971822.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:22.818Z,1628971822.818 [Micromodem](INFO): Nmea in: $SNTTA,0.070994,,,,201023.60*47

2021-08-14T20:10:22.852Z,1628971822.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 332.045248 deg, deltaT: 4.463817 s, approachRate: 0.564539 m/s, LOS rate: -8.504213 deg/s, posRepo size: 4
2021-08-14T20:10:25.262Z,1628971825.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:25.653Z,1628971825.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:25.653Z,1628971825.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:25.653Z,1628971825.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:25.654Z,1628971825.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:26.022Z,1628971826.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,007D2,186,80,80,87,FF
2021-08-14T20:10:26.022Z,1628971826.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:26.022Z,1628971826.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:26.024Z,1628971826.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:26.451Z,1628971826.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:26.841Z,1628971826.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,007F9,186,80,80,90,FF
2021-08-14T20:10:26.842Z,1628971826.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:27.274Z,1628971827.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201028.02*55

2021-08-14T20:10:27.314Z,1628971827.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.959999 m, bearing: 9.035073 deg, deltaT: 4.428234 s, approachRate: 0.528427 m/s, LOS rate: 8.353180 deg/s, posRepo size: 4
2021-08-14T20:10:29.710Z,1628971829.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:30.065Z,1628971830.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:30.065Z,1628971830.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:30.065Z,1628971830.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:30.066Z,1628971830.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:30.473Z,1628971830.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,007F9,186,80,80,90,FF
2021-08-14T20:10:30.473Z,1628971830.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:30.473Z,1628971830.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:30.475Z,1628971830.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:30.877Z,1628971830.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:31.274Z,1628971831.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,00823,186,80,80,94,FF
2021-08-14T20:10:31.274Z,1628971831.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:31.720Z,1628971831.720 [Micromodem](INFO): Nmea in: $SNTTA,0.068121,,,,201032.47*4D

2021-08-14T20:10:31.746Z,1628971831.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 12.052326 deg, deltaT: 4.444561 s, approachRate: 0.566986 m/s, LOS rate: 0.678864 deg/s, posRepo size: 4
2021-08-14T20:10:34.134Z,1628971834.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:34.509Z,1628971834.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:34.509Z,1628971834.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:34.509Z,1628971834.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:34.510Z,1628971834.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:34.909Z,1628971834.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,00823,186,80,80,94,FF
2021-08-14T20:10:34.909Z,1628971834.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:34.909Z,1628971834.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:34.911Z,1628971834.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:35.313Z,1628971835.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:35.726Z,1628971835.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,0084C,186,80,80,91,FF
2021-08-14T20:10:35.726Z,1628971835.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:36.145Z,1628971836.145 [Micromodem](INFO): Nmea in: $SNTTA,0.099172,,,,201036.91*4A

2021-08-14T20:10:36.196Z,1628971836.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 329.366393 deg, deltaT: 4.412282 s, approachRate: 0.557534 m/s, LOS rate: -9.674346 deg/s, posRepo size: 4
2021-08-14T20:10:38.581Z,1628971838.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:38.977Z,1628971838.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:38.977Z,1628971838.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:38.978Z,1628971838.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:38.979Z,1628971838.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:39.354Z,1628971839.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,0084C,186,80,80,91,FF
2021-08-14T20:10:39.354Z,1628971839.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:39.354Z,1628971839.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:39.356Z,1628971839.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:39.761Z,1628971839.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:40.165Z,1628971840.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00878,187,80,80,8C,FF
2021-08-14T20:10:40.166Z,1628971840.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:40.600Z,1628971840.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201041.35*5E

2021-08-14T20:10:40.657Z,1628971840.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.580002 m, bearing: 331.571861 deg, deltaT: 4.435466 s, approachRate: 0.595202 m/s, LOS rate: 0.497235 deg/s, posRepo size: 4
2021-08-14T20:10:43.073Z,1628971843.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:43.398Z,1628971843.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:43.398Z,1628971843.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:43.398Z,1628971843.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:43.399Z,1628971843.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:43.793Z,1628971843.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00878,187,80,80,8C,FF
2021-08-14T20:10:43.794Z,1628971843.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:43.794Z,1628971843.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:43.795Z,1628971843.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:44.213Z,1628971844.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:44.625Z,1628971844.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,0089F,188,80,80,8E,FF
2021-08-14T20:10:44.626Z,1628971844.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:45.065Z,1628971845.065 [Micromodem](INFO): Nmea in: $SNTTA,0.071293,,,,201045.80*44

2021-08-14T20:10:45.098Z,1628971845.098 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:10:45.115Z,1628971845.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.919998 m, bearing: 321.533477 deg, deltaT: 4.502841 s, approachRate: 0.519671 m/s, LOS rate: -2.229345 deg/s, posRepo size: 4
2021-08-14T20:10:47.483Z,1628971847.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:47.845Z,1628971847.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:47.845Z,1628971847.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:47.845Z,1628971847.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:47.846Z,1628971847.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:48.253Z,1628971848.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,0089F,188,80,80,8E,FF
2021-08-14T20:10:48.254Z,1628971848.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:48.254Z,1628971848.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:48.255Z,1628971848.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:48.679Z,1628971848.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:49.069Z,1628971849.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,282,000,008C9,189,80,80,80,FF
2021-08-14T20:10:49.069Z,1628971849.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:49.076Z,1628971849.076 [Micromodem](INFO): Nmea in: $SNTTA,0.064526,0.297397,,,201050.26*5E

2021-08-14T20:10:49.496Z,1628971849.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 323.058959 deg, deltaT: 4.470034 s, approachRate: 0.563755 m/s, LOS rate: 0.341268 deg/s, posRepo size: 4
2021-08-14T20:10:51.906Z,1628971851.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:52.289Z,1628971852.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:52.289Z,1628971852.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:52.290Z,1628971852.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:52.291Z,1628971852.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:52.689Z,1628971852.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
282,000,008C9,189,80,80,80,FF
2021-08-14T20:10:52.689Z,1628971852.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:52.689Z,1628971852.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:52.691Z,1628971852.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:53.109Z,1628971853.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:53.501Z,1628971853.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,008F3,188,80,80,7E,FF
2021-08-14T20:10:53.502Z,1628971853.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:53.952Z,1628971853.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.960007 m, bearing: 324.751535 deg, deltaT: 4.368386 s, approachRate: 0.576873 m/s, LOS rate: 0.387460 deg/s, posRepo size: 4
2021-08-14T20:10:56.351Z,1628971856.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:10:56.733Z,1628971856.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:10:56.733Z,1628971856.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:10:56.733Z,1628971856.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:10:56.734Z,1628971856.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:10:57.149Z,1628971857.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,008F3,188,80,80,7E,FF
2021-08-14T20:10:57.149Z,1628971857.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:10:57.149Z,1628971857.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:10:57.151Z,1628971857.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:10:57.541Z,1628971857.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:10:57.941Z,1628971857.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,0091D,189,80,80,6E,FF
2021-08-14T20:10:57.942Z,1628971857.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:10:58.365Z,1628971858.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201059.15*55

2021-08-14T20:10:58.400Z,1628971858.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.479996 m, bearing: 320.927339 deg, deltaT: 4.472133 s, approachRate: 0.563487 m/s, LOS rate: -0.855117 deg/s, posRepo size: 4
2021-08-14T20:11:00.803Z,1628971860.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:01.182Z,1628971861.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:01.182Z,1628971861.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:01.182Z,1628971861.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:01.183Z,1628971861.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:01.585Z,1628971861.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,0091D,189,80,80,6E,FF
2021-08-14T20:11:01.585Z,1628971861.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:01.586Z,1628971861.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:01.592Z,1628971861.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:01.987Z,1628971861.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:02.416Z,1628971862.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00948,186,80,80,5F,FF
2021-08-14T20:11:02.417Z,1628971862.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:02.826Z,1628971862.826 [Micromodem](INFO): Nmea in: $SNTTA,0.090305,,,,201103.59*42

2021-08-14T20:11:02.853Z,1628971862.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 346.474460 deg, deltaT: 4.446099 s, approachRate: 0.580286 m/s, LOS rate: 5.745963 deg/s, posRepo size: 4
2021-08-14T20:11:05.295Z,1628971865.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:05.641Z,1628971865.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:05.641Z,1628971865.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:05.641Z,1628971865.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:05.642Z,1628971865.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:06.017Z,1628971866.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00948,186,80,80,5F,FF
2021-08-14T20:11:06.018Z,1628971866.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:06.018Z,1628971866.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:06.037Z,1628971866.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:06.425Z,1628971866.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:06.838Z,1628971866.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,00972,186,80,80,8E,FF
2021-08-14T20:11:06.839Z,1628971866.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:07.265Z,1628971867.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201108.04*50

2021-08-14T20:11:07.325Z,1628971867.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 343.979665 deg, deltaT: 4.467757 s, approachRate: 0.564042 m/s, LOS rate: -0.558400 deg/s, posRepo size: 4
2021-08-14T20:11:09.721Z,1628971869.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:10.062Z,1628971870.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:10.062Z,1628971870.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:10.062Z,1628971870.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:10.063Z,1628971870.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:10.465Z,1628971870.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,00972,186,80,80,8E,FF
2021-08-14T20:11:10.465Z,1628971870.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:10.465Z,1628971870.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:10.467Z,1628971870.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:10.885Z,1628971870.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:11.281Z,1628971871.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,0099E,186,80,80,74,FF
2021-08-14T20:11:11.282Z,1628971871.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:11.711Z,1628971871.711 [Micromodem](INFO): Nmea in: $SNTTA,0.075381,,,,201112.47*4A

2021-08-14T20:11:11.801Z,1628971871.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 6.363206 deg, deltaT: 4.440882 s, approachRate: 0.594475 m/s, LOS rate: 5.040335 deg/s, posRepo size: 4
2021-08-14T20:11:14.119Z,1628971874.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:14.505Z,1628971874.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:14.505Z,1628971874.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:14.505Z,1628971874.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:14.506Z,1628971874.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:14.916Z,1628971874.916 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,0099E,186,80,80,74,FF
2021-08-14T20:11:14.916Z,1628971874.916 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:14.917Z,1628971874.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:14.918Z,1628971874.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:15.320Z,1628971875.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:15.729Z,1628971875.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,009CC,186,80,80,98,FF
2021-08-14T20:11:15.730Z,1628971875.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:16.149Z,1628971876.149 [Micromodem](INFO): Nmea in: $SNTTA,0.108340,,,,201116.92*40

2021-08-14T20:11:16.197Z,1628971876.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.979996 m, bearing: 335.150252 deg, deltaT: 4.495812 s, approachRate: 0.613903 m/s, LOS rate: -6.942671 deg/s, posRepo size: 4
2021-08-14T20:11:18.592Z,1628971878.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:18.947Z,1628971878.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:18.948Z,1628971878.948 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:18.949Z,1628971878.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:18.950Z,1628971878.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:19.357Z,1628971879.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,009CC,186,80,80,98,FF
2021-08-14T20:11:19.358Z,1628971879.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:19.358Z,1628971879.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:19.360Z,1628971879.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:19.757Z,1628971879.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:20.173Z,1628971880.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,009F7,186,80,80,83,FF
2021-08-14T20:11:20.173Z,1628971880.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:20.597Z,1628971880.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201121.36*5A

2021-08-14T20:11:20.649Z,1628971880.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.560005 m, bearing: 334.528131 deg, deltaT: 4.367711 s, approachRate: 0.590701 m/s, LOS rate: -0.142436 deg/s, posRepo size: 4
2021-08-14T20:11:23.086Z,1628971883.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:23.397Z,1628971883.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:23.397Z,1628971883.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:23.397Z,1628971883.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:23.398Z,1628971883.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:23.805Z,1628971883.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,009F7,186,80,80,83,FF
2021-08-14T20:11:23.805Z,1628971883.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:23.805Z,1628971883.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:23.807Z,1628971883.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:24.218Z,1628971884.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:24.621Z,1628971884.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,00A21,186,80,80,84,FF
2021-08-14T20:11:24.621Z,1628971884.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:25.069Z,1628971885.069 [Micromodem](INFO): Nmea in: $SNTTA,0.104499,,,,201125.81*4D

2021-08-14T20:11:25.143Z,1628971885.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.080002 m, bearing: 334.012670 deg, deltaT: 4.457669 s, approachRate: 0.565317 m/s, LOS rate: -0.115635 deg/s, posRepo size: 4
2021-08-14T20:11:27.480Z,1628971887.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:27.833Z,1628971887.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:27.833Z,1628971887.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:27.833Z,1628971887.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:27.834Z,1628971887.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:28.234Z,1628971888.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,00A21,186,80,80,84,FF
2021-08-14T20:11:28.234Z,1628971888.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:28.234Z,1628971888.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:28.236Z,1628971888.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:28.660Z,1628971888.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:29.065Z,1628971889.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00A4D,185,80,80,96,FF
2021-08-14T20:11:29.066Z,1628971889.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:29.493Z,1628971889.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201130.24*59

2021-08-14T20:11:29.516Z,1628971889.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.720001 m, bearing: 335.981486 deg, deltaT: 4.474050 s, approachRate: 0.590069 m/s, LOS rate: 0.440052 deg/s, posRepo size: 4
2021-08-14T20:11:31.909Z,1628971891.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:32.277Z,1628971892.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:32.277Z,1628971892.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:32.277Z,1628971892.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:32.278Z,1628971892.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:32.685Z,1628971892.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00A4D,185,80,80,96,FF
2021-08-14T20:11:32.685Z,1628971892.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:32.686Z,1628971892.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:32.687Z,1628971892.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:33.097Z,1628971893.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:33.501Z,1628971893.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,00A79,186,80,80,93,FF
2021-08-14T20:11:33.502Z,1628971893.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:33.933Z,1628971893.933 [Micromodem](INFO): Nmea in: $SNTTA,0.091460,,,,201134.69*40

2021-08-14T20:11:33.974Z,1628971893.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.360001 m, bearing: 337.136990 deg, deltaT: 4.372247 s, approachRate: 0.603808 m/s, LOS rate: 0.264282 deg/s, posRepo size: 4
2021-08-14T20:11:36.339Z,1628971896.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:36.721Z,1628971896.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:36.721Z,1628971896.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:36.721Z,1628971896.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:36.722Z,1628971896.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:37.133Z,1628971897.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,00A79,186,80,80,93,FF
2021-08-14T20:11:37.133Z,1628971897.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:37.133Z,1628971897.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:37.135Z,1628971897.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:37.532Z,1628971897.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:37.937Z,1628971897.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,00AA4,186,80,80,85,FF
2021-08-14T20:11:37.938Z,1628971897.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:38.373Z,1628971898.373 [Micromodem](INFO): Nmea in: $SNTTA,0.093842,,,,201139.13*4E

2021-08-14T20:11:38.409Z,1628971898.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 333.050788 deg, deltaT: 4.474454 s, approachRate: 0.576607 m/s, LOS rate: -0.913229 deg/s, posRepo size: 4
2021-08-14T20:11:40.798Z,1628971900.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:41.173Z,1628971901.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:41.173Z,1628971901.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:41.173Z,1628971901.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:41.174Z,1628971901.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:41.580Z,1628971901.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,00AA4,186,80,80,85,FF
2021-08-14T20:11:41.581Z,1628971901.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:41.581Z,1628971901.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:41.587Z,1628971901.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:41.980Z,1628971901.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:42.390Z,1628971902.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,00AD2,185,80,80,91,FF
2021-08-14T20:11:42.392Z,1628971902.392 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:42.813Z,1628971902.813 [Micromodem](INFO): Nmea in: $SNTTA,0.091801,,,,201143.59*48

2021-08-14T20:11:42.872Z,1628971902.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 335.357972 deg, deltaT: 4.469305 s, approachRate: 0.617544 m/s, LOS rate: 0.516229 deg/s, posRepo size: 4
2021-08-14T20:11:45.266Z,1628971905.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:45.641Z,1628971905.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:45.641Z,1628971905.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:45.641Z,1628971905.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:45.642Z,1628971905.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:46.026Z,1628971906.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,00AD2,185,80,80,91,FF
2021-08-14T20:11:46.026Z,1628971906.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:46.026Z,1628971906.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:46.028Z,1628971906.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:46.421Z,1628971906.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:47.242Z,1628971907.242 [Micromodem](INFO): Nmea in: $SNTTA,,0.413811,,,201148.03*43

2021-08-14T20:11:48.059Z,1628971908.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:49.657Z,1628971909.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,91,FF
2021-08-14T20:11:49.657Z,1628971909.657 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,91,FF
2021-08-14T20:11:49.657Z,1628971909.657 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:11:50.916Z,1628971910.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:51.273Z,1628971911.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:51.273Z,1628971911.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:51.273Z,1628971911.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:51.274Z,1628971911.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:51.677Z,1628971911.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,91,FF
2021-08-14T20:11:51.677Z,1628971911.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:51.677Z,1628971911.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:51.679Z,1628971911.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:52.077Z,1628971912.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:52.929Z,1628971912.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201153.68*54

2021-08-14T20:11:53.731Z,1628971913.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:55.310Z,1628971915.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,91,FF
2021-08-14T20:11:55.310Z,1628971915.310 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,91,FF
2021-08-14T20:11:55.310Z,1628971915.310 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:11:56.570Z,1628971916.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:11:56.952Z,1628971916.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:11:56.953Z,1628971916.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:11:56.953Z,1628971916.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:11:56.954Z,1628971916.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:11:57.335Z,1628971917.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,91,FF
2021-08-14T20:11:57.335Z,1628971917.335 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:11:57.335Z,1628971917.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:11:57.337Z,1628971917.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:11:57.777Z,1628971917.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:11:58.184Z,1628971918.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,00B69,186,80,80,79,FF
2021-08-14T20:11:58.185Z,1628971918.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:11:58.609Z,1628971918.609 [Micromodem](INFO): Nmea in: $SNTTA,0.117660,,,,201159.34*4E

2021-08-14T20:11:58.668Z,1628971918.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.759995 m, bearing: 332.971476 deg, deltaT: 15.739658 s, approachRate: 0.575616 m/s, LOS rate: -0.151623 deg/s, posRepo size: 4
2021-08-14T20:12:01.101Z,1628971921.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:01.409Z,1628971921.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:01.410Z,1628971921.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:01.410Z,1628971921.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:01.411Z,1628971921.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:01.801Z,1628971921.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,00B69,186,80,80,79,FF
2021-08-14T20:12:01.801Z,1628971921.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:01.801Z,1628971921.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:01.803Z,1628971921.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:02.223Z,1628971922.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:02.641Z,1628971922.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00B92,189,80,80,61,FF
2021-08-14T20:12:02.642Z,1628971922.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:03.070Z,1628971923.070 [Micromodem](INFO): Nmea in: $SNTTA,,0.480642,,,201203.81*47

2021-08-14T20:12:03.110Z,1628971923.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.220001 m, bearing: 328.938905 deg, deltaT: 4.505544 s, approachRate: 0.545995 m/s, LOS rate: -0.895024 deg/s, posRepo size: 4
2021-08-14T20:12:05.486Z,1628971925.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:05.857Z,1628971925.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:05.857Z,1628971925.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:05.857Z,1628971925.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:05.858Z,1628971925.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:06.258Z,1628971926.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00B92,189,80,80,61,FF
2021-08-14T20:12:06.259Z,1628971926.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:06.259Z,1628971926.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:06.262Z,1628971926.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:06.670Z,1628971926.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:07.101Z,1628971927.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,00BB9,189,80,80,2F,FF
2021-08-14T20:12:07.102Z,1628971927.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:07.529Z,1628971927.529 [Micromodem](INFO): Nmea in: $SNTTA,0.113751,,,,201208.26*4D

2021-08-14T20:12:07.585Z,1628971927.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.559998 m, bearing: 322.825066 deg, deltaT: 4.472794 s, approachRate: 0.523162 m/s, LOS rate: -1.366895 deg/s, posRepo size: 4
2021-08-14T20:12:09.938Z,1628971929.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:10.291Z,1628971930.291 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:10.291Z,1628971930.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:10.291Z,1628971930.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:10.292Z,1628971930.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:10.689Z,1628971930.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,00BB9,189,80,80,2F,FF
2021-08-14T20:12:10.689Z,1628971930.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:10.689Z,1628971930.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:10.691Z,1628971930.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:11.096Z,1628971931.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:11.501Z,1628971931.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00BE1,188,80,80,59,FF
2021-08-14T20:12:11.502Z,1628971931.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:11.939Z,1628971931.939 [Micromodem](INFO): Nmea in: $SNTTA,0.096165,,,,201212.69*40

2021-08-14T20:12:12.033Z,1628971932.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.959991 m, bearing: 326.725978 deg, deltaT: 4.338476 s, approachRate: 0.553188 m/s, LOS rate: 0.899143 deg/s, posRepo size: 4
2021-08-14T20:12:14.351Z,1628971934.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:14.729Z,1628971934.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:14.729Z,1628971934.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:14.729Z,1628971934.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:14.730Z,1628971934.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:15.133Z,1628971935.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00BE1,188,80,80,59,FF
2021-08-14T20:12:15.133Z,1628971935.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:15.133Z,1628971935.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:15.135Z,1628971935.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:15.545Z,1628971935.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:15.946Z,1628971935.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00C09,186,80,80,78,FF
2021-08-14T20:12:15.946Z,1628971935.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:16.389Z,1628971936.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201217.14*5C

2021-08-14T20:12:16.412Z,1628971936.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.360001 m, bearing: 337.732801 deg, deltaT: 4.513101 s, approachRate: 0.531787 m/s, LOS rate: 2.438860 deg/s, posRepo size: 4
2021-08-14T20:12:18.806Z,1628971938.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:19.185Z,1628971939.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:19.185Z,1628971939.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:19.185Z,1628971939.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:19.186Z,1628971939.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:19.589Z,1628971939.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00C09,186,80,80,78,FF
2021-08-14T20:12:19.589Z,1628971939.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:19.590Z,1628971939.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:19.596Z,1628971939.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:19.995Z,1628971939.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:20.390Z,1628971940.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00C32,186,80,80,78,FF
2021-08-14T20:12:20.390Z,1628971940.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:20.821Z,1628971940.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201221.60*5A

2021-08-14T20:12:20.860Z,1628971940.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.820007 m, bearing: 334.462998 deg, deltaT: 4.405713 s, approachRate: 0.558367 m/s, LOS rate: -0.742173 deg/s, posRepo size: 4
2021-08-14T20:12:22.825Z,1628971942.825 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:12:23.259Z,1628971943.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:23.645Z,1628971943.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:23.645Z,1628971943.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:23.645Z,1628971943.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:23.646Z,1628971943.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:24.029Z,1628971944.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00C32,186,80,80,78,FF
2021-08-14T20:12:24.029Z,1628971944.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:24.029Z,1628971944.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:24.031Z,1628971944.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:24.446Z,1628971944.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:24.834Z,1628971944.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,00C5D,185,80,80,78,FF
2021-08-14T20:12:24.834Z,1628971944.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:25.269Z,1628971945.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201226.04*5F

2021-08-14T20:12:25.321Z,1628971945.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 338.847351 deg, deltaT: 4.473610 s, approachRate: 0.576712 m/s, LOS rate: 0.980048 deg/s, posRepo size: 4
2021-08-14T20:12:27.704Z,1628971947.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:28.077Z,1628971948.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:28.077Z,1628971948.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:28.078Z,1628971948.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:28.079Z,1628971948.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:28.478Z,1628971948.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,00C5D,185,80,80,78,FF
2021-08-14T20:12:28.478Z,1628971948.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:28.479Z,1628971948.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:28.484Z,1628971948.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:28.881Z,1628971948.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:29.274Z,1628971949.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,00C5D,185,80,80,78,FF
2021-08-14T20:12:29.275Z,1628971949.275 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:29.283Z,1628971949.283 [Micromodem](INFO): Nmea in: $SNTTA,0.183636,0.181867,,,201230.49*59

2021-08-14T20:12:29.735Z,1628971949.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 336.550878 deg, deltaT: 4.456944 s, approachRate: 0.000000 m/s, LOS rate: -0.515257 deg/s, posRepo size: 4
2021-08-14T20:12:32.127Z,1628971952.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:32.513Z,1628971952.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:32.513Z,1628971952.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:32.513Z,1628971952.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:32.514Z,1628971952.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:32.917Z,1628971952.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,00C5D,185,80,80,78,FF
2021-08-14T20:12:32.917Z,1628971952.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:32.917Z,1628971952.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:32.919Z,1628971952.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:33.321Z,1628971953.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:33.732Z,1628971953.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00CAB,185,80,80,78,FF
2021-08-14T20:12:33.733Z,1628971953.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:34.177Z,1628971954.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201234.92*53

2021-08-14T20:12:34.215Z,1628971954.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.080002 m, bearing: 358.972312 deg, deltaT: 4.394073 s, approachRate: 1.065073 m/s, LOS rate: 5.102654 deg/s, posRepo size: 4
2021-08-14T20:12:36.610Z,1628971956.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:36.968Z,1628971956.968 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:36.969Z,1628971956.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:36.969Z,1628971956.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:36.971Z,1628971956.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:37.354Z,1628971957.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00CAB,185,80,80,78,FF
2021-08-14T20:12:37.354Z,1628971957.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:37.354Z,1628971957.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:37.356Z,1628971957.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:37.829Z,1628971957.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:38.225Z,1628971958.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00CD4,186,80,80,70,FF
2021-08-14T20:12:38.226Z,1628971958.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:38.661Z,1628971958.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201239.36*50

2021-08-14T20:12:38.713Z,1628971958.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.539993 m, bearing: 4.299932 deg, deltaT: 4.554818 s, approachRate: 0.540086 m/s, LOS rate: 1.169667 deg/s, posRepo size: 4
2021-08-14T20:12:41.107Z,1628971961.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:41.467Z,1628971961.467 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:41.467Z,1628971961.467 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:41.468Z,1628971961.468 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:41.469Z,1628971961.469 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:41.857Z,1628971961.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00CD4,186,80,80,70,FF
2021-08-14T20:12:41.857Z,1628971961.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:41.858Z,1628971961.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:41.859Z,1628971961.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:42.269Z,1628971962.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:42.674Z,1628971962.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00CFF,185,80,80,70,FF
2021-08-14T20:12:42.674Z,1628971962.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:43.124Z,1628971963.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201243.86*56

2021-08-14T20:12:43.179Z,1628971963.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.120010 m, bearing: 359.135854 deg, deltaT: 4.411002 s, approachRate: 0.584905 m/s, LOS rate: -1.170727 deg/s, posRepo size: 4
2021-08-14T20:12:45.530Z,1628971965.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:45.901Z,1628971965.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:45.901Z,1628971965.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:45.901Z,1628971965.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:45.902Z,1628971965.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:46.309Z,1628971966.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00CFF,185,80,80,70,FF
2021-08-14T20:12:46.309Z,1628971966.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:46.310Z,1628971966.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:46.311Z,1628971966.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:46.724Z,1628971966.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:47.139Z,1628971967.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00D27,187,80,80,71,FF
2021-08-14T20:12:47.140Z,1628971967.140 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:47.144Z,1628971967.144 [Micromodem](INFO): Nmea in: $SNTTA,0.115226,0.270679,,,201248.31*5F

2021-08-14T20:12:47.620Z,1628971967.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 6.222552 deg, deltaT: 4.479132 s, approachRate: 0.535817 m/s, LOS rate: 1.582158 deg/s, posRepo size: 4
2021-08-14T20:12:49.979Z,1628971969.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:50.355Z,1628971970.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:50.365Z,1628971970.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:50.365Z,1628971970.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:50.366Z,1628971970.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:50.749Z,1628971970.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00D27,187,80,80,71,FF
2021-08-14T20:12:50.749Z,1628971970.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:50.749Z,1628971970.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:50.751Z,1628971970.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:51.171Z,1628971971.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:51.557Z,1628971971.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00D27,187,80,80,71,FF
2021-08-14T20:12:51.558Z,1628971971.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:52.005Z,1628971972.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201252.75*5A

2021-08-14T20:12:52.057Z,1628971972.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 2.218866 deg, deltaT: 4.426094 s, approachRate: 0.000000 m/s, LOS rate: -0.904564 deg/s, posRepo size: 4
2021-08-14T20:12:54.414Z,1628971974.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:54.789Z,1628971974.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:54.789Z,1628971974.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:54.789Z,1628971974.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:54.790Z,1628971974.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:55.201Z,1628971975.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00D27,187,80,80,71,FF
2021-08-14T20:12:55.201Z,1628971975.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:55.201Z,1628971975.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:55.203Z,1628971975.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:12:55.629Z,1628971975.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:12:56.002Z,1628971976.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00D27,187,80,80,71,FF
2021-08-14T20:12:56.002Z,1628971976.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:12:56.451Z,1628971976.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201257.21*5E

2021-08-14T20:12:56.473Z,1628971976.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 359.285463 deg, deltaT: 4.427635 s, approachRate: 0.000000 m/s, LOS rate: -0.662519 deg/s, posRepo size: 4
2021-08-14T20:12:58.870Z,1628971978.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:12:59.255Z,1628971979.255 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:12:59.255Z,1628971979.255 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:12:59.255Z,1628971979.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:12:59.256Z,1628971979.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:12:59.653Z,1628971979.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00D27,187,80,80,71,FF
2021-08-14T20:12:59.653Z,1628971979.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:12:59.653Z,1628971979.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:12:59.655Z,1628971979.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:00.050Z,1628971980.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:00.459Z,1628971980.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00D27,187,80,80,71,FF
2021-08-14T20:13:00.460Z,1628971980.460 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:00.885Z,1628971980.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201301.66*5F

2021-08-14T20:13:00.913Z,1628971980.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 345.987167 deg, deltaT: 4.421803 s, approachRate: 0.000000 m/s, LOS rate: -3.007438 deg/s, posRepo size: 4
2021-08-14T20:13:03.344Z,1628971983.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:03.685Z,1628971983.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:03.686Z,1628971983.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:03.686Z,1628971983.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:03.687Z,1628971983.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:04.101Z,1628971984.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00D27,187,80,80,71,FF
2021-08-14T20:13:04.101Z,1628971984.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:04.101Z,1628971984.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:04.103Z,1628971984.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:04.504Z,1628971984.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:04.898Z,1628971984.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00D27,187,80,80,71,FF
2021-08-14T20:13:04.898Z,1628971984.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:05.318Z,1628971985.318 [Micromodem](INFO): Nmea in: $SNTTA,0.118281,0.373578,,,201306.10*57

2021-08-14T20:13:05.356Z,1628971985.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 345.804199 deg, deltaT: 4.533351 s, approachRate: 0.000000 m/s, LOS rate: -0.040360 deg/s, posRepo size: 4
2021-08-14T20:13:07.742Z,1628971987.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:08.142Z,1628971988.142 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:08.142Z,1628971988.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:08.142Z,1628971988.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:08.143Z,1628971988.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:08.525Z,1628971988.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00D27,187,80,80,71,FF
2021-08-14T20:13:08.526Z,1628971988.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:08.526Z,1628971988.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:08.528Z,1628971988.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:08.997Z,1628971988.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:09.333Z,1628971989.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,095,000,00D27,187,80,80,71,FF
2021-08-14T20:13:09.334Z,1628971989.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:09.785Z,1628971989.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201310.53*59

2021-08-14T20:13:09.838Z,1628971989.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 349.725794 deg, deltaT: 4.385425 s, approachRate: 0.000000 m/s, LOS rate: 0.894234 deg/s, posRepo size: 4
2021-08-14T20:13:12.203Z,1628971992.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:12.584Z,1628971992.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:12.585Z,1628971992.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:12.585Z,1628971992.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:12.587Z,1628971992.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:13.012Z,1628971993.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
095,000,00D27,187,80,80,71,FF
2021-08-14T20:13:13.013Z,1628971993.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:13.013Z,1628971993.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:13.016Z,1628971993.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:13.388Z,1628971993.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:14.187Z,1628971994.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,00E23,185,80,80,72,FF
2021-08-14T20:13:14.189Z,1628971994.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:14.194Z,1628971994.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201315.02*58

2021-08-14T20:13:14.665Z,1628971994.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.639999 m, bearing: 336.323760 deg, deltaT: 4.862876 s, approachRate: 3.109270 m/s, LOS rate: -2.755989 deg/s, posRepo size: 4
2021-08-14T20:13:17.117Z,1628971997.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:17.417Z,1628971997.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:17.417Z,1628971997.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:17.417Z,1628971997.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:17.418Z,1628971997.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:17.829Z,1628971997.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,00E23,185,80,80,72,FF
2021-08-14T20:13:17.829Z,1628971997.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:17.829Z,1628971997.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:17.831Z,1628971997.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:18.229Z,1628971998.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:18.668Z,1628971998.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00E53,186,80,80,72,FF
2021-08-14T20:13:18.669Z,1628971998.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:19.082Z,1628971999.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201319.83*5D

2021-08-14T20:13:19.120Z,1628971999.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.520004 m, bearing: 339.618480 deg, deltaT: 4.482856 s, approachRate: 0.642449 m/s, LOS rate: 0.734960 deg/s, posRepo size: 4
2021-08-14T20:13:21.506Z,1628972001.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:21.861Z,1628972001.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:21.861Z,1628972001.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:21.861Z,1628972001.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:21.862Z,1628972001.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:22.275Z,1628972002.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,00E53,186,80,80,72,FF
2021-08-14T20:13:22.275Z,1628972002.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:22.275Z,1628972002.275 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:22.277Z,1628972002.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:22.673Z,1628972002.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:23.505Z,1628972003.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00E7E,185,80,80,65,FF
2021-08-14T20:13:23.505Z,1628972003.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:23.509Z,1628972003.509 [Micromodem](INFO): Nmea in: $SNTTA,,0.248273,,,201324.28*44

2021-08-14T20:13:23.931Z,1628972003.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.099991 m, bearing: 340.139104 deg, deltaT: 4.830130 s, approachRate: 0.534144 m/s, LOS rate: 0.107787 deg/s, posRepo size: 4
2021-08-14T20:13:26.342Z,1628972006.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:26.705Z,1628972006.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:26.705Z,1628972006.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:26.705Z,1628972006.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:26.706Z,1628972006.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:27.109Z,1628972007.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00E7E,185,80,80,65,FF
2021-08-14T20:13:27.110Z,1628972007.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:27.110Z,1628972007.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:27.111Z,1628972007.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:27.557Z,1628972007.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:27.938Z,1628972007.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,00E7E,185,80,80,65,FF
2021-08-14T20:13:27.938Z,1628972007.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:28.369Z,1628972008.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201329.11*55

2021-08-14T20:13:28.392Z,1628972008.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.099991 m, bearing: 339.877699 deg, deltaT: 4.438689 s, approachRate: 0.000000 m/s, LOS rate: -0.058892 deg/s, posRepo size: 4
2021-08-14T20:13:30.791Z,1628972010.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:31.157Z,1628972011.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:31.157Z,1628972011.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:31.157Z,1628972011.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:31.158Z,1628972011.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:31.561Z,1628972011.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,00E7E,185,80,80,65,FF
2021-08-14T20:13:31.561Z,1628972011.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:31.561Z,1628972011.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:31.563Z,1628972011.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:31.983Z,1628972011.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:32.806Z,1628972012.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,00EDA,185,80,80,93,FF
2021-08-14T20:13:32.807Z,1628972012.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:32.827Z,1628972012.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201333.57*5C

2021-08-14T20:13:33.257Z,1628972013.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 338.901965 deg, deltaT: 4.863646 s, approachRate: 1.134952 m/s, LOS rate: -0.200618 deg/s, posRepo size: 4
2021-08-14T20:13:35.655Z,1628972015.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:36.015Z,1628972016.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:36.015Z,1628972016.015 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:36.015Z,1628972016.015 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:36.017Z,1628972016.017 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:36.409Z,1628972016.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,00EDA,185,80,80,93,FF
2021-08-14T20:13:36.409Z,1628972016.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:36.409Z,1628972016.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:36.411Z,1628972016.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:36.821Z,1628972016.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:37.219Z,1628972017.219 [Micromodem](INFO): Nmea in: $SNTTA,0.220243,0.220362,,,201338.41*52

2021-08-14T20:13:37.661Z,1628972017.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00F0A,186,80,80,88,FF
2021-08-14T20:13:37.661Z,1628972017.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:38.068Z,1628972018.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.499985 m, bearing: 339.063267 deg, deltaT: 4.833942 s, approachRate: 0.595785 m/s, LOS rate: 0.033369 deg/s, posRepo size: 4
2021-08-14T20:13:40.479Z,1628972020.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:40.853Z,1628972020.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:40.853Z,1628972020.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:40.853Z,1628972020.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:40.854Z,1628972020.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:41.257Z,1628972021.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,00F0A,186,80,80,88,FF
2021-08-14T20:13:41.257Z,1628972021.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:41.257Z,1628972021.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:41.259Z,1628972021.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:41.683Z,1628972021.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:42.503Z,1628972022.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,00F44,185,80,80,83,FF
2021-08-14T20:13:42.521Z,1628972022.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:42.528Z,1628972022.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201343.26*5D

2021-08-14T20:13:42.912Z,1628972022.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.979996 m, bearing: 337.152317 deg, deltaT: 4.830474 s, approachRate: 0.720428 m/s, LOS rate: -0.395603 deg/s, posRepo size: 4
2021-08-14T20:13:42.913Z,1628972022.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 196.98 m. Resuming terminal guidance.
2021-08-14T20:13:42.913Z,1628972022.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T20:13:45.371Z,1628972025.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:45.709Z,1628972025.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:45.709Z,1628972025.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:45.710Z,1628972025.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:45.710Z,1628972025.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:46.117Z,1628972026.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,00F44,185,80,80,83,FF
2021-08-14T20:13:46.117Z,1628972026.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:46.117Z,1628972026.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:46.119Z,1628972026.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:46.509Z,1628972026.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:47.337Z,1628972027.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00F77,186,80,80,85,FF
2021-08-14T20:13:47.337Z,1628972027.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:47.340Z,1628972027.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201348.12*51

2021-08-14T20:13:47.767Z,1628972027.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.039993 m, bearing: 335.920533 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T20:13:47.768Z,1628972027.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 335.920533deg and heading rate command to 0 deg/s.
2021-08-14T20:13:50.163Z,1628972030.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:50.558Z,1628972030.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:50.559Z,1628972030.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:50.559Z,1628972030.559 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:50.564Z,1628972030.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:50.960Z,1628972030.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00F77,186,80,80,85,FF
2021-08-14T20:13:50.961Z,1628972030.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:50.961Z,1628972030.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:50.967Z,1628972030.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:51.357Z,1628972031.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:52.189Z,1628972032.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00F98,186,80,80,7E,FF
2021-08-14T20:13:52.190Z,1628972032.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:52.192Z,1628972032.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201352.97*57

2021-08-14T20:13:52.634Z,1628972032.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.019989 m, bearing: 330.142958 deg, deltaT: 4.778237 s, approachRate: 0.414378 m/s, LOS rate: -1.209144 deg/s, posRepo size: 2
2021-08-14T20:13:52.640Z,1628972032.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.019989 m,
      bearing: 330.142958 deg,
      approachRate: 0.414378 m/s,
      LOS rate: -1.209144 deg/s,
      cmd update: -4.836575 deg/s,
      cmd heading: 335.920533 deg,
      new cmd heading: 335.920533 deg.

2021-08-14T20:13:55.084Z,1628972035.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:13:55.401Z,1628972035.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:13:55.401Z,1628972035.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:13:55.401Z,1628972035.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:13:55.402Z,1628972035.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:13:55.813Z,1628972035.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00F98,186,80,80,7E,FF
2021-08-14T20:13:55.814Z,1628972035.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:13:55.814Z,1628972035.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:13:55.851Z,1628972035.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:13:56.221Z,1628972036.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:13:57.065Z,1628972037.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00FD0,185,80,80,90,FF
2021-08-14T20:13:57.065Z,1628972037.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:13:57.068Z,1628972037.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201357.85*51

2021-08-14T20:13:57.475Z,1628972037.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.379990 m, bearing: 334.223149 deg, deltaT: 4.942623 s, approachRate: 0.679801 m/s, LOS rate: 0.825511 deg/s, posRepo size: 3
2021-08-14T20:13:57.477Z,1628972037.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.379990 m,
      bearing: 334.223149 deg,
      approachRate: 0.679801 m/s,
      LOS rate: 0.825511 deg/s,
      cmd update: 3.302045 deg/s,
      cmd heading: 312.034645 deg,
      new cmd heading: 310.448495 deg.

2021-08-14T20:13:59.890Z,1628972039.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:00.269Z,1628972040.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:00.269Z,1628972040.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:00.269Z,1628972040.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:00.270Z,1628972040.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:00.669Z,1628972040.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00FD0,185,80,80,90,FF
2021-08-14T20:14:00.669Z,1628972040.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:00.670Z,1628972040.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:00.671Z,1628972040.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:01.077Z,1628972041.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:01.905Z,1628972041.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E64,000,00FF6,185,80,80,60,FF
2021-08-14T20:14:01.905Z,1628972041.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:01.909Z,1628972041.909 [Micromodem](INFO): Nmea in: $SNTTA,0.140609,,,,201402.68*41

2021-08-14T20:14:02.320Z,1628972042.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.660004 m, bearing: 340.585443 deg, deltaT: 4.820087 s, approachRate: 0.473023 m/s, LOS rate: 1.319954 deg/s, posRepo size: 4
2021-08-14T20:14:02.323Z,1628972042.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.660004 m,
      bearing: 340.585443 deg,
      approachRate: 0.473023 m/s,
      LOS rate: 1.319954 deg/s,
      cmd update: 5.279816 deg/s,
      cmd heading: 327.844718 deg,
      new cmd heading: 329.115975 deg.

2021-08-14T20:14:04.749Z,1628972044.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:05.117Z,1628972045.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:05.117Z,1628972045.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:05.117Z,1628972045.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:05.118Z,1628972045.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:05.517Z,1628972045.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E64,000,00FF6,185,80,80,60,FF
2021-08-14T20:14:05.517Z,1628972045.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:05.517Z,1628972045.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:05.519Z,1628972045.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:05.930Z,1628972045.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:06.742Z,1628972046.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,0102F,187,80,80,61,FF
2021-08-14T20:14:06.743Z,1628972046.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:06.745Z,1628972046.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201407.52*59

2021-08-14T20:14:07.185Z,1628972047.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.079987 m, bearing: 345.285733 deg, deltaT: 4.833947 s, approachRate: 0.707493 m/s, LOS rate: 0.972350 deg/s, posRepo size: 4
2021-08-14T20:14:07.187Z,1628972047.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.079987 m,
      bearing: 345.285733 deg,
      approachRate: 0.707493 m/s,
      LOS rate: 0.972350 deg/s,
      cmd update: 3.889402 deg/s,
      cmd heading: 353.534831 deg,
      new cmd heading: 355.565845 deg.

2021-08-14T20:14:09.627Z,1628972049.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:09.954Z,1628972049.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:09.954Z,1628972049.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:09.954Z,1628972049.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:09.955Z,1628972049.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:10.369Z,1628972050.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,0102F,187,80,80,61,FF
2021-08-14T20:14:10.369Z,1628972050.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:10.369Z,1628972050.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:10.371Z,1628972050.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:10.768Z,1628972050.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:11.605Z,1628972051.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,01061,187,80,80,4D,FF
2021-08-14T20:14:11.606Z,1628972051.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:11.632Z,1628972051.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201412.37*5E

2021-08-14T20:14:12.002Z,1628972052.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.080002 m, bearing: 6.126964 deg, deltaT: 4.892134 s, approachRate: 0.613232 m/s, LOS rate: 4.260149 deg/s, posRepo size: 4
2021-08-14T20:14:12.004Z,1628972052.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 6.126964 deg,
      approachRate: 0.613232 m/s,
      LOS rate: 4.260149 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 12.517294 deg,
      new cmd heading: 13.765158 deg.

2021-08-14T20:14:14.431Z,1628972054.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:14.805Z,1628972054.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:14.805Z,1628972054.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:14.805Z,1628972054.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:14.806Z,1628972054.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:15.205Z,1628972055.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,01061,187,80,80,4D,FF
2021-08-14T20:14:15.205Z,1628972055.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:15.205Z,1628972055.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:15.207Z,1628972055.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:15.663Z,1628972055.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:16.447Z,1628972056.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,01091,186,80,80,57,FF
2021-08-14T20:14:16.469Z,1628972056.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:16.478Z,1628972056.478 [Micromodem](INFO): Nmea in: $SNTTA,0.146450,,,,201417.21*40

2021-08-14T20:14:16.870Z,1628972056.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.959991 m, bearing: 14.171047 deg, deltaT: 4.838223 s, approachRate: 0.595258 m/s, LOS rate: 1.662611 deg/s, posRepo size: 4
2021-08-14T20:14:16.888Z,1628972056.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.959991 m,
      bearing: 14.171047 deg,
      approachRate: 0.595258 m/s,
      LOS rate: 1.662611 deg/s,
      cmd update: 6.650444 deg/s,
      cmd heading: 70.669596 deg,
      new cmd heading: 74.785488 deg.

2021-08-14T20:14:19.301Z,1628972059.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:19.657Z,1628972059.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:19.657Z,1628972059.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:19.657Z,1628972059.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:19.658Z,1628972059.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:20.061Z,1628972060.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,01091,186,80,80,57,FF
2021-08-14T20:14:20.061Z,1628972060.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:20.061Z,1628972060.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:20.063Z,1628972060.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:20.496Z,1628972060.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:21.297Z,1628972061.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,010A9,189,80,80,90,FF
2021-08-14T20:14:21.298Z,1628972061.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:21.301Z,1628972061.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201422.07*5E

2021-08-14T20:14:21.723Z,1628972061.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.399994 m, bearing: 54.821871 deg, deltaT: 4.873633 s, approachRate: 0.295468 m/s, LOS rate: 8.340970 deg/s, posRepo size: 4
2021-08-14T20:14:21.726Z,1628972061.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.399994 m,
      bearing: 54.821871 deg,
      approachRate: 0.295468 m/s,
      LOS rate: 8.340970 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 103.079132 deg,
      new cmd heading: 105.228383 deg.

2021-08-14T20:14:24.127Z,1628972064.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:24.509Z,1628972064.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:24.509Z,1628972064.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:24.509Z,1628972064.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:24.510Z,1628972064.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:24.917Z,1628972064.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,010A9,189,80,80,90,FF
2021-08-14T20:14:24.917Z,1628972064.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:24.917Z,1628972064.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:24.921Z,1628972064.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:25.317Z,1628972065.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:26.145Z,1628972066.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,010C1,189,80,80,B4,FF
2021-08-14T20:14:26.145Z,1628972066.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:26.148Z,1628972066.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201426.92*56

2021-08-14T20:14:26.565Z,1628972066.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.839996 m, bearing: 77.292190 deg, deltaT: 4.783295 s, approachRate: 0.301048 m/s, LOS rate: 4.697665 deg/s, posRepo size: 4
2021-08-14T20:14:26.573Z,1628972066.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.839996 m,
      bearing: 77.292190 deg,
      approachRate: 0.301048 m/s,
      LOS rate: 4.697665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 160.243102 deg,
      new cmd heading: 165.022918 deg.

2021-08-14T20:14:29.026Z,1628972069.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:29.358Z,1628972069.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:29.358Z,1628972069.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:29.358Z,1628972069.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:29.359Z,1628972069.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:29.757Z,1628972069.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,010C1,189,80,80,B4,FF
2021-08-14T20:14:29.757Z,1628972069.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:29.757Z,1628972069.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:29.759Z,1628972069.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:30.177Z,1628972070.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:31.006Z,1628972071.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,010C6,188,80,80,94,FF
2021-08-14T20:14:31.006Z,1628972071.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:31.010Z,1628972071.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201431.76*5A

2021-08-14T20:14:31.414Z,1628972071.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.139984 m, bearing: 92.407952 deg, deltaT: 4.933030 s, approachRate: 0.060812 m/s, LOS rate: 3.064194 deg/s, posRepo size: 4
2021-08-14T20:14:31.416Z,1628972071.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.139984 m,
      bearing: 92.407952 deg,
      approachRate: 0.060812 m/s,
      LOS rate: 3.064194 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 219.582467 deg,
      new cmd heading: 223.244039 deg.

2021-08-14T20:14:33.837Z,1628972073.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:34.201Z,1628972074.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:34.201Z,1628972074.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:34.201Z,1628972074.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:34.202Z,1628972074.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:34.636Z,1628972074.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,010C6,188,80,80,94,FF
2021-08-14T20:14:34.637Z,1628972074.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:34.637Z,1628972074.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:34.639Z,1628972074.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:35.045Z,1628972075.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:35.819Z,1628972075.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,010C4,189,80,80,A8,FF
2021-08-14T20:14:35.821Z,1628972075.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:35.827Z,1628972075.827 [Micromodem](INFO): Nmea in: $SNTTA,0.065020,,,,201436.64*41

2021-08-14T20:14:36.252Z,1628972076.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.019989 m, bearing: 114.968066 deg, deltaT: 4.777460 s, approachRate: -0.025117 m/s, LOS rate: 4.722199 deg/s, posRepo size: 4
2021-08-14T20:14:36.254Z,1628972076.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.019989 m,
      bearing: 114.968066 deg,
      approachRate: -0.025117 m/s,
      LOS rate: 4.722199 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.055558 deg,
      new cmd heading: 281.298050 deg.

2021-08-14T20:14:37.861Z,1628972077.861 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T20:14:38.700Z,1628972078.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:39.053Z,1628972079.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:39.053Z,1628972079.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:39.054Z,1628972079.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:39.055Z,1628972079.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:39.465Z,1628972079.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,010C4,189,80,80,A8,FF
2021-08-14T20:14:39.465Z,1628972079.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:39.465Z,1628972079.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:39.467Z,1628972079.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:39.869Z,1628972079.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:40.681Z,1628972080.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,010B3,189,80,80,87,FF
2021-08-14T20:14:40.681Z,1628972080.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:40.685Z,1628972080.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201441.47*5F

2021-08-14T20:14:41.139Z,1628972081.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.000000 m, bearing: 146.010197 deg, deltaT: 4.844174 s, approachRate: -0.210560 m/s, LOS rate: 6.408137 deg/s, posRepo size: 4
2021-08-14T20:14:41.142Z,1628972081.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.000000 m,
      bearing: 146.010197 deg,
      approachRate: -0.210560 m/s,
      LOS rate: 6.408137 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 335.185324 deg,
      new cmd heading: 339.949948 deg.

2021-08-14T20:14:43.544Z,1628972083.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:43.897Z,1628972083.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:43.897Z,1628972083.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:43.897Z,1628972083.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:43.898Z,1628972083.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:44.309Z,1628972084.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,010B3,189,80,80,87,FF
2021-08-14T20:14:44.310Z,1628972084.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:44.310Z,1628972084.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:44.312Z,1628972084.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:44.709Z,1628972084.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:45.541Z,1628972085.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,010AB,186,80,80,A7,FF
2021-08-14T20:14:45.541Z,1628972085.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:45.544Z,1628972085.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201446.31*59

2021-08-14T20:14:45.967Z,1628972085.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.519989 m, bearing: 85.755074 deg, deltaT: 4.886705 s, approachRate: -0.098228 m/s, LOS rate: -12.330419 deg/s, posRepo size: 4
2021-08-14T20:14:45.967Z,1628972085.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.330419 deg/s. Setting heading cmd to target bearing of 85.755074deg and heading rate command to 0 deg/s.
2021-08-14T20:14:47.957Z,1628972087.957 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:14:48.367Z,1628972088.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:48.758Z,1628972088.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:48.758Z,1628972088.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:48.758Z,1628972088.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:48.759Z,1628972088.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:49.153Z,1628972089.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,010AB,186,80,80,A7,FF
2021-08-14T20:14:49.153Z,1628972089.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:49.154Z,1628972089.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:49.155Z,1628972089.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:49.625Z,1628972089.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:50.405Z,1628972090.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEF,000,010B4,189,80,80,7D,FF
2021-08-14T20:14:50.405Z,1628972090.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:50.408Z,1628972090.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201451.16*5A

2021-08-14T20:14:50.850Z,1628972090.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.059982 m, bearing: 95.430351 deg, deltaT: 4.793781 s, approachRate: 0.112645 m/s, LOS rate: 2.018298 deg/s, posRepo size: 4
2021-08-14T20:14:50.852Z,1628972090.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.059982 m,
      bearing: 95.430351 deg,
      approachRate: 0.112645 m/s,
      LOS rate: 2.018298 deg/s,
      cmd update: 8.073191 deg/s,
      cmd heading: 85.755074 deg,
      new cmd heading: 85.755074 deg.

2021-08-14T20:14:53.295Z,1628972093.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:53.661Z,1628972093.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:53.661Z,1628972093.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:53.661Z,1628972093.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:53.662Z,1628972093.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:54.037Z,1628972094.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEF,000,010B4,189,80,80,7D,FF
2021-08-14T20:14:54.037Z,1628972094.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:54.037Z,1628972094.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:54.039Z,1628972094.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:54.451Z,1628972094.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:55.276Z,1628972095.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D05,000,010C9,189,80,80,9B,FF
2021-08-14T20:14:55.277Z,1628972095.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:14:55.279Z,1628972095.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201456.04*5E

2021-08-14T20:14:55.707Z,1628972095.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.320007 m, bearing: 87.197494 deg, deltaT: 4.906603 s, approachRate: 0.256802 m/s, LOS rate: -1.677914 deg/s, posRepo size: 4
2021-08-14T20:14:55.709Z,1628972095.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.320007 m,
      bearing: 87.197494 deg,
      approachRate: 0.256802 m/s,
      LOS rate: -1.677914 deg/s,
      cmd update: -6.711656 deg/s,
      cmd heading: 125.243164 deg,
      new cmd heading: 128.398538 deg.

2021-08-14T20:14:57.693Z,1628972097.693 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:14:58.095Z,1628972098.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:14:58.489Z,1628972098.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:14:58.489Z,1628972098.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:14:58.489Z,1628972098.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:14:58.490Z,1628972098.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:14:58.885Z,1628972098.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D05,000,010C9,189,80,80,9B,FF
2021-08-14T20:14:58.885Z,1628972098.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:14:58.885Z,1628972098.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:14:58.887Z,1628972098.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:14:59.301Z,1628972099.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:14:59.702Z,1628972099.702 [Micromodem](INFO): Nmea in: $SNTTA,0.146685,0.146492,,,201500.89*5D

2021-08-14T20:15:00.109Z,1628972100.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,010CC,188,80,80,A3,FF
2021-08-14T20:15:00.109Z,1628972100.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:00.546Z,1628972100.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.500000 m, bearing: 94.385578 deg, deltaT: 4.813736 s, approachRate: 0.037391 m/s, LOS rate: 1.493244 deg/s, posRepo size: 4
2021-08-14T20:15:00.548Z,1628972100.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.500000 m,
      bearing: 94.385578 deg,
      approachRate: 0.037391 m/s,
      LOS rate: 1.493244 deg/s,
      cmd update: 5.972977 deg/s,
      cmd heading: 92.814398 deg,
      new cmd heading: 90.138635 deg.

2021-08-14T20:15:02.974Z,1628972102.974 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:15:03.046Z,1628972103.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:03.329Z,1628972103.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:03.329Z,1628972103.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:03.329Z,1628972103.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:03.330Z,1628972103.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:03.745Z,1628972103.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,010CC,188,80,80,A3,FF
2021-08-14T20:15:03.745Z,1628972103.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:03.745Z,1628972103.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:03.747Z,1628972103.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:04.141Z,1628972104.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:04.970Z,1628972104.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC3,000,010C2,189,80,80,9B,FF
2021-08-14T20:15:04.971Z,1628972104.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:05.005Z,1628972105.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201505.75*5F

2021-08-14T20:15:05.392Z,1628972105.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.899994 m, bearing: 127.569192 deg, deltaT: 4.924698 s, approachRate: -0.121836 m/s, LOS rate: 6.738203 deg/s, posRepo size: 4
2021-08-14T20:15:05.394Z,1628972105.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.899994 m,
      bearing: 127.569192 deg,
      approachRate: -0.121836 m/s,
      LOS rate: 6.738203 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 122.228272 deg,
      new cmd heading: 124.139356 deg.

2021-08-14T20:15:07.809Z,1628972107.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:08.177Z,1628972108.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:08.177Z,1628972108.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:08.177Z,1628972108.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:08.178Z,1628972108.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:08.601Z,1628972108.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC3,000,010C2,189,80,80,9B,FF
2021-08-14T20:15:08.602Z,1628972108.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:08.602Z,1628972108.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:08.625Z,1628972108.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:09.029Z,1628972109.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:09.792Z,1628972109.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B15,000,010A6,189,80,80,A3,FF
2021-08-14T20:15:09.793Z,1628972109.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:09.800Z,1628972109.800 [Micromodem](INFO): Nmea in: $SNTTA,0.159626,,,,201510.63*4D

2021-08-14T20:15:10.252Z,1628972110.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.219986 m, bearing: 169.353625 deg, deltaT: 4.817975 s, approachRate: -0.348696 m/s, LOS rate: 8.672613 deg/s, posRepo size: 4
2021-08-14T20:15:10.254Z,1628972110.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.219986 m,
      bearing: 169.353625 deg,
      approachRate: -0.348696 m/s,
      LOS rate: 8.672613 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 179.910713 deg,
      new cmd heading: 184.389425 deg.

2021-08-14T20:15:12.667Z,1628972112.667 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:15:12.706Z,1628972112.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:13.045Z,1628972113.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:13.045Z,1628972113.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:13.045Z,1628972113.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:13.046Z,1628972113.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:13.442Z,1628972113.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B15,000,010A6,189,80,80,A3,FF
2021-08-14T20:15:13.442Z,1628972113.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:13.442Z,1628972113.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:13.450Z,1628972113.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:13.841Z,1628972113.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:14.685Z,1628972114.685 [Micromodem](INFO): Nmea in: $SNTTA,0.436129,,,,201515.46*4B

2021-08-14T20:15:15.471Z,1628972115.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:17.061Z,1628972117.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,A3,FF
2021-08-14T20:15:17.061Z,1628972117.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,A3,FF
2021-08-14T20:15:17.062Z,1628972117.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:15:17.892Z,1628972117.892 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:15:18.336Z,1628972118.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:18.685Z,1628972118.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:18.685Z,1628972118.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:18.685Z,1628972118.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:18.686Z,1628972118.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:19.093Z,1628972119.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,A3,FF
2021-08-14T20:15:19.093Z,1628972119.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:19.093Z,1628972119.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:19.095Z,1628972119.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:19.524Z,1628972119.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:20.345Z,1628972120.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,0103A,186,80,80,9B,FF
2021-08-14T20:15:20.345Z,1628972120.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:20.348Z,1628972120.348 [Micromodem](INFO): Nmea in: $SNTTA,0.143780,,,,201521.10*4D

2021-08-14T20:15:20.801Z,1628972120.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.739990 m, bearing: 167.726059 deg, deltaT: 10.473927 s, approachRate: -0.618679 m/s, LOS rate: -0.155392 deg/s, posRepo size: 4
2021-08-14T20:15:20.803Z,1628972120.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.739990 m,
      bearing: 167.726059 deg,
      approachRate: -0.618679 m/s,
      LOS rate: -0.155392 deg/s,
      cmd update: -0.621569 deg/s,
      cmd heading: 305.733992 deg,
      new cmd heading: 310.928300 deg.

2021-08-14T20:15:22.777Z,1628972122.777 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:15:23.242Z,1628972123.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:23.564Z,1628972123.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:23.565Z,1628972123.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:23.565Z,1628972123.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:23.566Z,1628972123.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:23.966Z,1628972123.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,0103A,186,80,80,9B,FF
2021-08-14T20:15:23.966Z,1628972123.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:23.966Z,1628972123.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:23.968Z,1628972123.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:24.364Z,1628972124.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:25.193Z,1628972125.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00FFF,186,80,80,AC,FF
2021-08-14T20:15:25.193Z,1628972125.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:25.197Z,1628972125.197 [Micromodem](INFO): Nmea in: $SNTTA,0.141499,,,,201525.97*4F

2021-08-14T20:15:25.663Z,1628972125.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.199997 m, bearing: 164.410167 deg, deltaT: 4.914954 s, approachRate: -0.720250 m/s, LOS rate: -0.674654 deg/s, posRepo size: 4
2021-08-14T20:15:25.667Z,1628972125.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.199997 m,
      bearing: 164.410167 deg,
      approachRate: -0.720250 m/s,
      LOS rate: -0.674654 deg/s,
      cmd update: -2.698616 deg/s,
      cmd heading: 302.679249 deg,
      new cmd heading: 302.444492 deg.

2021-08-14T20:15:28.022Z,1628972128.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:28.405Z,1628972128.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:28.405Z,1628972128.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:28.405Z,1628972128.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:28.406Z,1628972128.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:28.809Z,1628972128.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00FFF,186,80,80,AC,FF
2021-08-14T20:15:28.809Z,1628972128.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:28.809Z,1628972128.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:28.811Z,1628972128.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:29.216Z,1628972129.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:30.045Z,1628972130.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,00FC9,189,80,80,B5,FF
2021-08-14T20:15:30.045Z,1628972130.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:30.049Z,1628972130.049 [Micromodem](INFO): Nmea in: $SNTTA,0.139279,,,,201530.82*48

2021-08-14T20:15:30.467Z,1628972130.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.959991 m, bearing: 153.336135 deg, deltaT: 4.811895 s, approachRate: -0.673333 m/s, LOS rate: -2.301387 deg/s, posRepo size: 4
2021-08-14T20:15:30.488Z,1628972130.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.959991 m,
      bearing: 153.336135 deg,
      approachRate: -0.673333 m/s,
      LOS rate: -2.301387 deg/s,
      cmd update: -9.205547 deg/s,
      cmd heading: 289.692779 deg,
      new cmd heading: 288.678844 deg.

2021-08-14T20:15:32.889Z,1628972132.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:33.249Z,1628972133.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:33.249Z,1628972133.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:33.249Z,1628972133.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:33.250Z,1628972133.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:33.658Z,1628972133.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,00FC9,189,80,80,B5,FF
2021-08-14T20:15:33.658Z,1628972133.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:33.658Z,1628972133.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:33.660Z,1628972133.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:34.061Z,1628972134.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:34.893Z,1628972134.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F97,189,80,80,BB,FF
2021-08-14T20:15:34.893Z,1628972134.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:34.896Z,1628972134.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201535.66*5E

2021-08-14T20:15:35.332Z,1628972135.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.959991 m, bearing: 150.705747 deg, deltaT: 4.920669 s, approachRate: -0.609673 m/s, LOS rate: -0.534559 deg/s, posRepo size: 4
2021-08-14T20:15:35.334Z,1628972135.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.959991 m,
      bearing: 150.705747 deg,
      approachRate: -0.609673 m/s,
      LOS rate: -0.534559 deg/s,
      cmd update: -2.138236 deg/s,
      cmd heading: 244.435208 deg,
      new cmd heading: 241.446746 deg.

2021-08-14T20:15:37.708Z,1628972137.708 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:15:37.723Z,1628972137.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:38.097Z,1628972138.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:38.097Z,1628972138.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:38.098Z,1628972138.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:38.099Z,1628972138.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:38.509Z,1628972138.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F97,189,80,80,BB,FF
2021-08-14T20:15:38.509Z,1628972138.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:38.510Z,1628972138.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:38.511Z,1628972138.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:38.909Z,1628972138.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:39.733Z,1628972139.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,00F74,189,80,80,BD,FF
2021-08-14T20:15:39.734Z,1628972139.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:39.736Z,1628972139.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201540.51*58

2021-08-14T20:15:40.156Z,1628972140.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.860001 m, bearing: 269.831705 deg, deltaT: 4.802665 s, approachRate: -0.437255 m/s, LOS rate: 24.804136 deg/s, posRepo size: 4
2021-08-14T20:15:40.157Z,1628972140.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.804136 deg/s. Setting heading cmd to target bearing of 269.831705deg and heading rate command to 0 deg/s.
2021-08-14T20:15:42.617Z,1628972142.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:42.965Z,1628972142.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:42.965Z,1628972142.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:42.966Z,1628972142.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:42.967Z,1628972142.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:43.349Z,1628972143.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,00F74,189,80,80,BD,FF
2021-08-14T20:15:43.349Z,1628972143.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:43.349Z,1628972143.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:43.351Z,1628972143.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:43.772Z,1628972143.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:44.601Z,1628972144.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F61,189,80,80,A4,FF
2021-08-14T20:15:44.603Z,1628972144.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:44.607Z,1628972144.607 [Micromodem](INFO): Nmea in: $SNTTA,0.134921,,,,201545.35*4D

2021-08-14T20:15:45.054Z,1628972145.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.719986 m, bearing: 180.839121 deg, deltaT: 4.871393 s, approachRate: -0.234022 m/s, LOS rate: -18.268406 deg/s, posRepo size: 4
2021-08-14T20:15:45.054Z,1628972145.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.268406 deg/s. Setting heading cmd to target bearing of 180.839121deg and heading rate command to 0 deg/s.
2021-08-14T20:15:47.415Z,1628972147.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:47.806Z,1628972147.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:47.806Z,1628972147.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:47.806Z,1628972147.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:47.807Z,1628972147.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:48.197Z,1628972148.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F61,189,80,80,A4,FF
2021-08-14T20:15:48.197Z,1628972148.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:48.198Z,1628972148.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:48.199Z,1628972148.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:48.625Z,1628972148.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:49.050Z,1628972149.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00F61,189,80,80,A4,FF
2021-08-14T20:15:49.050Z,1628972149.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:49.458Z,1628972149.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201550.20*5F

2021-08-14T20:15:49.480Z,1628972149.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.719986 m, bearing: 281.535125 deg, deltaT: 4.450555 s, approachRate: 0.000000 m/s, LOS rate: 22.625493 deg/s, posRepo size: 4
2021-08-14T20:15:49.481Z,1628972149.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.625493 deg/s. Setting heading cmd to target bearing of 281.535125deg and heading rate command to 0 deg/s.
2021-08-14T20:15:51.888Z,1628972151.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:52.245Z,1628972152.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:52.245Z,1628972152.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:52.245Z,1628972152.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:52.246Z,1628972152.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:52.687Z,1628972152.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00F61,189,80,80,A4,FF
2021-08-14T20:15:52.687Z,1628972152.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:52.687Z,1628972152.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:52.689Z,1628972152.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:53.064Z,1628972153.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:53.870Z,1628972153.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00F67,185,80,80,7A,FF
2021-08-14T20:15:53.871Z,1628972153.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:53.879Z,1628972153.879 [Micromodem](INFO): Nmea in: $SNTTA,0.080815,,,,201554.69*4C

2021-08-14T20:15:54.300Z,1628972154.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.079987 m, bearing: 260.614692 deg, deltaT: 4.822549 s, approachRate: 0.074649 m/s, LOS rate: -4.338044 deg/s, posRepo size: 4
2021-08-14T20:15:54.302Z,1628972154.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.079987 m,
      bearing: 260.614692 deg,
      approachRate: 0.074649 m/s,
      LOS rate: -4.338044 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.535125 deg,
      new cmd heading: 281.535125 deg.

2021-08-14T20:15:56.722Z,1628972156.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:15:57.101Z,1628972157.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:15:57.101Z,1628972157.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:15:57.101Z,1628972157.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:15:57.102Z,1628972157.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:15:57.501Z,1628972157.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00F67,185,80,80,7A,FF
2021-08-14T20:15:57.501Z,1628972157.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:15:57.501Z,1628972157.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:15:57.503Z,1628972157.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:15:57.909Z,1628972157.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:15:57.935Z,1628972157.935 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:15:58.733Z,1628972158.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,490,000,00F69,189,80,80,A4,FF
2021-08-14T20:15:58.733Z,1628972158.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:15:58.736Z,1628972158.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201559.51*50

2021-08-14T20:15:59.166Z,1628972159.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.199997 m, bearing: 192.319112 deg, deltaT: 4.803647 s, approachRate: 0.024983 m/s, LOS rate: -14.217443 deg/s, posRepo size: 4
2021-08-14T20:15:59.167Z,1628972159.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.217443 deg/s. Setting heading cmd to target bearing of 192.319112deg and heading rate command to 0 deg/s.
2021-08-14T20:16:01.603Z,1628972161.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:01.937Z,1628972161.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:01.937Z,1628972161.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:01.937Z,1628972161.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:01.938Z,1628972161.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:02.349Z,1628972162.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
490,000,00F69,189,80,80,A4,FF
2021-08-14T20:16:02.349Z,1628972162.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:02.349Z,1628972162.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:02.351Z,1628972162.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:02.752Z,1628972162.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:03.585Z,1628972163.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00F6F,186,80,80,A7,FF
2021-08-14T20:16:03.586Z,1628972163.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:03.597Z,1628972163.597 [Micromodem](INFO): Nmea in: $SNTTA,0.135379,,,,201604.36*4E

2021-08-14T20:16:04.012Z,1628972164.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.559998 m, bearing: 246.256187 deg, deltaT: 4.909927 s, approachRate: 0.073321 m/s, LOS rate: 10.985311 deg/s, posRepo size: 4
2021-08-14T20:16:04.014Z,1628972164.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.559998 m,
      bearing: 246.256187 deg,
      approachRate: 0.073321 m/s,
      LOS rate: 10.985311 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 192.319112 deg,
      new cmd heading: 192.319112 deg.

2021-08-14T20:16:06.443Z,1628972166.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:06.789Z,1628972166.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:06.790Z,1628972166.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:06.790Z,1628972166.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:06.791Z,1628972166.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:07.197Z,1628972167.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00F6F,186,80,80,A7,FF
2021-08-14T20:16:07.197Z,1628972167.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:07.197Z,1628972167.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:07.199Z,1628972167.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:07.641Z,1628972167.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:08.434Z,1628972168.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F75,189,80,80,9E,FF
2021-08-14T20:16:08.434Z,1628972168.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:08.439Z,1628972168.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201609.20*50

2021-08-14T20:16:08.855Z,1628972168.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.919998 m, bearing: 181.779092 deg, deltaT: 4.789163 s, approachRate: 0.075170 m/s, LOS rate: -13.463124 deg/s, posRepo size: 4
2021-08-14T20:16:08.856Z,1628972168.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.463124 deg/s. Setting heading cmd to target bearing of 181.779092deg and heading rate command to 0 deg/s.
2021-08-14T20:16:11.282Z,1628972171.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:11.656Z,1628972171.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:11.656Z,1628972171.656 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:11.657Z,1628972171.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:11.657Z,1628972171.657 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:12.046Z,1628972172.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F75,189,80,80,9E,FF
2021-08-14T20:16:12.046Z,1628972172.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:12.047Z,1628972172.047 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:12.049Z,1628972172.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:12.443Z,1628972172.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:13.254Z,1628972173.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C2,000,00F7A,189,80,80,8C,FF
2021-08-14T20:16:13.254Z,1628972173.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:13.257Z,1628972173.257 [Micromodem](INFO): Nmea in: $SNTTA,0.400381,0.400344,,,201614.05*52

2021-08-14T20:16:13.715Z,1628972173.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.220001 m, bearing: 185.682463 deg, deltaT: 4.855348 s, approachRate: 0.061788 m/s, LOS rate: 0.803932 deg/s, posRepo size: 4
2021-08-14T20:16:13.733Z,1628972173.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.220001 m,
      bearing: 185.682463 deg,
      approachRate: 0.061788 m/s,
      LOS rate: 0.803932 deg/s,
      cmd update: 3.215729 deg/s,
      cmd heading: 181.779092 deg,
      new cmd heading: 181.779092 deg.

2021-08-14T20:16:16.133Z,1628972176.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:16.489Z,1628972176.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:16.489Z,1628972176.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:16.489Z,1628972176.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:16.490Z,1628972176.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:16.886Z,1628972176.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C2,000,00F7A,189,80,80,8C,FF
2021-08-14T20:16:16.886Z,1628972176.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:16.886Z,1628972176.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:16.889Z,1628972176.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:17.303Z,1628972177.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:18.125Z,1628972178.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F62,189,80,80,AB,FF
2021-08-14T20:16:18.126Z,1628972178.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:18.129Z,1628972178.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201618.89*53

2021-08-14T20:16:18.584Z,1628972178.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.779984 m, bearing: 156.072500 deg, deltaT: 4.860292 s, approachRate: -0.296282 m/s, LOS rate: -6.092219 deg/s, posRepo size: 4
2021-08-14T20:16:18.591Z,1628972178.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.779984 m,
      bearing: 156.072500 deg,
      approachRate: -0.296282 m/s,
      LOS rate: -6.092219 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.485778 deg,
      new cmd heading: 198.778218 deg.

2021-08-14T20:16:21.038Z,1628972181.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:21.341Z,1628972181.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:21.341Z,1628972181.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:21.341Z,1628972181.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:21.342Z,1628972181.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:21.733Z,1628972181.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F62,189,80,80,AB,FF
2021-08-14T20:16:21.733Z,1628972181.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:21.733Z,1628972181.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:21.735Z,1628972181.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:22.141Z,1628972182.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:23.003Z,1628972183.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F4B,189,80,80,AA,FF
2021-08-14T20:16:23.003Z,1628972183.003 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:23.006Z,1628972183.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201623.74*59

2021-08-14T20:16:23.389Z,1628972183.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.399994 m, bearing: 141.130874 deg, deltaT: 4.923971 s, approachRate: -0.280259 m/s, LOS rate: -3.034467 deg/s, posRepo size: 4
2021-08-14T20:16:23.393Z,1628972183.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 141.130874 deg,
      approachRate: -0.280259 m/s,
      LOS rate: -3.034467 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 138.498696 deg,
      new cmd heading: 134.952960 deg.

2021-08-14T20:16:25.815Z,1628972185.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:26.197Z,1628972186.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:26.197Z,1628972186.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:26.197Z,1628972186.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:26.198Z,1628972186.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:26.589Z,1628972186.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F4B,189,80,80,AA,FF
2021-08-14T20:16:26.589Z,1628972186.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:26.590Z,1628972186.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:26.598Z,1628972186.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:27.064Z,1628972187.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:27.430Z,1628972187.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,341,000,00F4B,189,80,80,AA,FF
2021-08-14T20:16:27.431Z,1628972187.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:27.861Z,1628972187.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201628.60*57

2021-08-14T20:16:27.911Z,1628972187.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.399994 m, bearing: 147.371945 deg, deltaT: 4.385934 s, approachRate: 0.000000 m/s, LOS rate: 1.422974 deg/s, posRepo size: 4
2021-08-14T20:16:27.917Z,1628972187.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 147.371945 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.422974 deg/s,
      cmd update: 5.691898 deg/s,
      cmd heading: 86.059536 deg,
      new cmd heading: 80.677295 deg.

2021-08-14T20:16:30.279Z,1628972190.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:30.661Z,1628972190.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:30.661Z,1628972190.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:30.661Z,1628972190.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:30.662Z,1628972190.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:31.069Z,1628972191.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
341,000,00F4B,189,80,80,AA,FF
2021-08-14T20:16:31.069Z,1628972191.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:31.069Z,1628972191.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:31.071Z,1628972191.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:31.465Z,1628972191.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:32.278Z,1628972192.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00EFB,189,80,80,A0,FF
2021-08-14T20:16:32.279Z,1628972192.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:32.282Z,1628972192.282 [Micromodem](INFO): Nmea in: $SNTTA,0.130521,,,,201633.08*49

2021-08-14T20:16:32.739Z,1628972192.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.599991 m, bearing: 138.979883 deg, deltaT: 4.840913 s, approachRate: -0.991549 m/s, LOS rate: -1.733570 deg/s, posRepo size: 4
2021-08-14T20:16:32.741Z,1628972192.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.599991 m,
      bearing: 138.979883 deg,
      approachRate: -0.991549 m/s,
      LOS rate: -1.733570 deg/s,
      cmd update: -6.934280 deg/s,
      cmd heading: 113.615196 deg,
      new cmd heading: 116.091587 deg.

2021-08-14T20:16:35.146Z,1628972195.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:35.505Z,1628972195.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:35.505Z,1628972195.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:35.506Z,1628972195.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:35.507Z,1628972195.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:35.901Z,1628972195.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00EFB,189,80,80,A0,FF
2021-08-14T20:16:35.901Z,1628972195.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:35.901Z,1628972195.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:35.903Z,1628972195.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:36.319Z,1628972196.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:37.137Z,1628972197.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00EC8,186,80,80,B7,FF
2021-08-14T20:16:37.137Z,1628972197.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:37.164Z,1628972197.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201637.91*57

2021-08-14T20:16:37.545Z,1628972197.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.539993 m, bearing: 143.546056 deg, deltaT: 4.899399 s, approachRate: -0.624566 m/s, LOS rate: 0.931986 deg/s, posRepo size: 4
2021-08-14T20:16:37.547Z,1628972197.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.539993 m,
      bearing: 143.546056 deg,
      approachRate: -0.624566 m/s,
      LOS rate: 0.931986 deg/s,
      cmd update: 3.727945 deg/s,
      cmd heading: 79.551868 deg,
      new cmd heading: 77.275205 deg.

2021-08-14T20:16:39.974Z,1628972199.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:40.345Z,1628972200.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:40.345Z,1628972200.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:40.345Z,1628972200.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:40.346Z,1628972200.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:40.761Z,1628972200.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00EC8,186,80,80,B7,FF
2021-08-14T20:16:40.761Z,1628972200.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:40.761Z,1628972200.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:40.763Z,1628972200.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:41.165Z,1628972201.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:41.985Z,1628972201.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,00E92,186,80,80,AC,FF
2021-08-14T20:16:41.985Z,1628972201.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:41.988Z,1628972201.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201642.77*5D

2021-08-14T20:16:42.404Z,1628972202.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.300018 m, bearing: 142.753235 deg, deltaT: 4.812437 s, approachRate: -0.673250 m/s, LOS rate: -0.164744 deg/s, posRepo size: 4
2021-08-14T20:16:42.406Z,1628972202.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.300018 m,
      bearing: 142.753235 deg,
      approachRate: -0.673250 m/s,
      LOS rate: -0.164744 deg/s,
      cmd update: -0.658977 deg/s,
      cmd heading: 97.518710 deg,
      new cmd heading: 98.891302 deg.

2021-08-14T20:16:44.817Z,1628972204.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:45.193Z,1628972205.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:45.193Z,1628972205.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:45.193Z,1628972205.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:45.194Z,1628972205.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:45.608Z,1628972205.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,00E92,186,80,80,AC,FF
2021-08-14T20:16:45.609Z,1628972205.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:45.610Z,1628972205.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:45.614Z,1628972205.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:46.005Z,1628972206.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:46.837Z,1628972206.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,00E65,186,80,80,99,FF
2021-08-14T20:16:46.837Z,1628972206.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:46.840Z,1628972206.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201647.62*5C

2021-08-14T20:16:47.268Z,1628972207.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.600006 m, bearing: 89.530249 deg, deltaT: 4.826628 s, approachRate: -0.559399 m/s, LOS rate: -11.026950 deg/s, posRepo size: 4
2021-08-14T20:16:47.270Z,1628972207.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.600006 m,
      bearing: 89.530249 deg,
      approachRate: -0.559399 m/s,
      LOS rate: -11.026950 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 94.335200 deg,
      new cmd heading: 94.070705 deg.

2021-08-14T20:16:49.674Z,1628972209.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:50.041Z,1628972210.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:50.041Z,1628972210.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:50.041Z,1628972210.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:50.042Z,1628972210.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:50.446Z,1628972210.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,00E65,186,80,80,99,FF
2021-08-14T20:16:50.446Z,1628972210.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:50.446Z,1628972210.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:50.449Z,1628972210.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:50.861Z,1628972210.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:51.266Z,1628972211.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00E65,186,80,80,99,FF
2021-08-14T20:16:51.266Z,1628972211.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:51.694Z,1628972211.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201652.45*5D

2021-08-14T20:16:51.720Z,1628972211.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.600006 m, bearing: 88.955175 deg, deltaT: 4.498945 s, approachRate: 0.000000 m/s, LOS rate: -0.127824 deg/s, posRepo size: 4
2021-08-14T20:16:51.722Z,1628972211.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.600006 m,
      bearing: 88.955175 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.127824 deg/s,
      cmd update: -0.511297 deg/s,
      cmd heading: 40.481095 deg,
      new cmd heading: 36.090379 deg.

2021-08-14T20:16:54.109Z,1628972214.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:54.493Z,1628972214.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:54.493Z,1628972214.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:54.493Z,1628972214.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:54.494Z,1628972214.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:54.897Z,1628972214.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00E65,186,80,80,99,FF
2021-08-14T20:16:54.897Z,1628972214.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:54.897Z,1628972214.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:54.899Z,1628972214.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:55.301Z,1628972215.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:16:55.781Z,1628972215.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B11,000,00E25,189,80,80,9D,FF
2021-08-14T20:16:55.782Z,1628972215.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:16:56.197Z,1628972216.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201656.90*51

2021-08-14T20:16:56.213Z,1628972216.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.760010 m, bearing: 144.110161 deg, deltaT: 4.633623 s, approachRate: -0.828724 m/s, LOS rate: 11.903210 deg/s, posRepo size: 4
2021-08-14T20:16:56.214Z,1628972216.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.903210 deg/s. Setting heading cmd to target bearing of 144.110161deg and heading rate command to 0 deg/s.
2021-08-14T20:16:58.664Z,1628972218.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:16:59.049Z,1628972219.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:16:59.049Z,1628972219.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:16:59.049Z,1628972219.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:16:59.050Z,1628972219.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:16:59.413Z,1628972219.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B11,000,00E25,189,80,80,9D,FF
2021-08-14T20:16:59.413Z,1628972219.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:16:59.413Z,1628972219.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:16:59.415Z,1628972219.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:16:59.820Z,1628972219.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:00.229Z,1628972220.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00E25,189,80,80,9D,FF
2021-08-14T20:17:00.229Z,1628972220.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:00.673Z,1628972220.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201701.42*5D

2021-08-14T20:17:00.724Z,1628972220.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.760010 m, bearing: 87.483768 deg, deltaT: 4.264789 s, approachRate: 0.000000 m/s, LOS rate: -13.277654 deg/s, posRepo size: 4
2021-08-14T20:17:00.725Z,1628972220.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.277654 deg/s. Setting heading cmd to target bearing of 87.483768deg and heading rate command to 0 deg/s.
2021-08-14T20:17:03.111Z,1628972223.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:03.454Z,1628972223.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:03.454Z,1628972223.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:03.454Z,1628972223.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:03.455Z,1628972223.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:03.861Z,1628972223.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00E25,189,80,80,9D,FF
2021-08-14T20:17:03.861Z,1628972223.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:03.861Z,1628972223.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:03.863Z,1628972223.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:04.264Z,1628972224.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:04.670Z,1628972224.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00E25,189,80,80,9D,FF
2021-08-14T20:17:04.670Z,1628972224.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:05.119Z,1628972225.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201705.87*50

2021-08-14T20:17:05.159Z,1628972225.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.760010 m, bearing: 88.367423 deg, deltaT: 4.478655 s, approachRate: 0.000000 m/s, LOS rate: 0.197304 deg/s, posRepo size: 4
2021-08-14T20:17:05.181Z,1628972225.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.760010 m,
      bearing: 88.367423 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.197304 deg/s,
      cmd update: 0.789215 deg/s,
      cmd heading: 87.483768 deg,
      new cmd heading: 87.483768 deg.

2021-08-14T20:17:07.525Z,1628972227.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:07.897Z,1628972227.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:07.897Z,1628972227.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:07.897Z,1628972227.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:07.898Z,1628972227.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:08.309Z,1628972228.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00E25,189,80,80,9D,FF
2021-08-14T20:17:08.309Z,1628972228.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:08.309Z,1628972228.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:08.311Z,1628972228.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:08.717Z,1628972228.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:09.547Z,1628972229.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C74,000,00E12,18A,80,80,AA,FF
2021-08-14T20:17:09.551Z,1628972229.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:09.554Z,1628972229.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201710.32*5A

2021-08-14T20:17:09.989Z,1628972229.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.619995 m, bearing: 120.866426 deg, deltaT: 4.874237 s, approachRate: -0.233886 m/s, LOS rate: 6.667506 deg/s, posRepo size: 4
2021-08-14T20:17:09.991Z,1628972229.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.619995 m,
      bearing: 120.866426 deg,
      approachRate: -0.233886 m/s,
      LOS rate: 6.667506 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 91.309926 deg,
      new cmd heading: 91.624007 deg.

2021-08-14T20:17:12.383Z,1628972232.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:12.753Z,1628972232.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:12.753Z,1628972232.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:12.753Z,1628972232.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:12.754Z,1628972232.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:13.157Z,1628972233.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C74,000,00E12,18A,80,80,AA,FF
2021-08-14T20:17:13.157Z,1628972233.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:13.157Z,1628972233.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:13.159Z,1628972233.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:13.561Z,1628972233.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:13.966Z,1628972233.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AF4,000,00E12,18A,80,80,AA,FF
2021-08-14T20:17:13.967Z,1628972233.967 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:14.409Z,1628972234.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201715.16*59

2021-08-14T20:17:14.441Z,1628972234.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.619995 m, bearing: 156.719100 deg, deltaT: 4.408902 s, approachRate: 0.000000 m/s, LOS rate: 8.131882 deg/s, posRepo size: 4
2021-08-14T20:17:14.445Z,1628972234.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.619995 m,
      bearing: 156.719100 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.131882 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 144.448388 deg,
      new cmd heading: 149.545868 deg.

2021-08-14T20:17:16.833Z,1628972236.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:17.197Z,1628972237.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:17.197Z,1628972237.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:17.197Z,1628972237.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:17.198Z,1628972237.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:17.609Z,1628972237.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AF4,000,00E12,18A,80,80,AA,FF
2021-08-14T20:17:17.609Z,1628972237.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:17.610Z,1628972237.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:17.611Z,1628972237.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:18.013Z,1628972238.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:18.835Z,1628972238.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,00DD8,189,80,80,A5,FF
2021-08-14T20:17:18.835Z,1628972238.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:18.838Z,1628972238.838 [Micromodem](INFO): Nmea in: $SNTTA,0.118869,,,,201719.62*47

2021-08-14T20:17:19.271Z,1628972239.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.140015 m, bearing: 146.246153 deg, deltaT: 4.838554 s, approachRate: -0.719219 m/s, LOS rate: -2.164479 deg/s, posRepo size: 4
2021-08-14T20:17:19.273Z,1628972239.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 146.246153 deg,
      approachRate: -0.719219 m/s,
      LOS rate: -2.164479 deg/s,
      cmd update: -8.657915 deg/s,
      cmd heading: 202.642233 deg,
      new cmd heading: 207.522069 deg.

2021-08-14T20:17:21.683Z,1628972241.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:22.050Z,1628972242.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:22.050Z,1628972242.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:22.050Z,1628972242.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:22.051Z,1628972242.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:22.438Z,1628972242.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,00DD8,189,80,80,A5,FF
2021-08-14T20:17:22.438Z,1628972242.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:22.439Z,1628972242.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:22.442Z,1628972242.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:22.863Z,1628972242.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:23.265Z,1628972243.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00DAA,189,80,80,A5,FF
2021-08-14T20:17:23.266Z,1628972243.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:23.697Z,1628972243.697 [Micromodem](INFO): Nmea in: $SNTTA,0.117543,,,,201724.45*46

2021-08-14T20:17:23.763Z,1628972243.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.379990 m, bearing: 157.806125 deg, deltaT: 4.471664 s, approachRate: -0.617225 m/s, LOS rate: 2.585161 deg/s, posRepo size: 4
2021-08-14T20:17:23.765Z,1628972243.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.379990 m,
      bearing: 157.806125 deg,
      approachRate: -0.617225 m/s,
      LOS rate: 2.585161 deg/s,
      cmd update: 10.340645 deg/s,
      cmd heading: 163.927481 deg,
      new cmd heading: 160.229192 deg.

2021-08-14T20:17:26.137Z,1628972246.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:26.485Z,1628972246.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:26.485Z,1628972246.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:26.485Z,1628972246.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:26.486Z,1628972246.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:26.890Z,1628972246.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00DAA,189,80,80,A5,FF
2021-08-14T20:17:26.890Z,1628972246.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:26.890Z,1628972246.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:26.893Z,1628972246.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:27.309Z,1628972247.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:27.705Z,1628972247.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00D79,189,80,80,A5,FF
2021-08-14T20:17:27.706Z,1628972247.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:28.141Z,1628972248.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201728.90*59

2021-08-14T20:17:28.157Z,1628972248.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 150.216733 deg, deltaT: 4.451908 s, approachRate: -0.660388 m/s, LOS rate: -1.704750 deg/s, posRepo size: 4
2021-08-14T20:17:28.159Z,1628972248.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 150.216733 deg,
      approachRate: -0.660388 m/s,
      LOS rate: -1.704750 deg/s,
      cmd update: -6.819002 deg/s,
      cmd heading: 209.922299 deg,
      new cmd heading: 213.778015 deg.

2021-08-14T20:17:30.566Z,1628972250.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:30.941Z,1628972250.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:30.941Z,1628972250.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:30.942Z,1628972250.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:30.944Z,1628972250.944 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:31.341Z,1628972251.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00D79,189,80,80,A5,FF
2021-08-14T20:17:31.341Z,1628972251.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:31.341Z,1628972251.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:31.343Z,1628972251.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:31.744Z,1628972251.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:32.142Z,1628972252.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,00D79,189,80,80,A5,FF
2021-08-14T20:17:32.142Z,1628972252.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:32.626Z,1628972252.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201733.35*5C

2021-08-14T20:17:32.671Z,1628972252.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 147.155989 deg, deltaT: 4.377335 s, approachRate: 0.000000 m/s, LOS rate: -0.699226 deg/s, posRepo size: 4
2021-08-14T20:17:32.683Z,1628972252.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 147.155989 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.699226 deg/s,
      cmd update: -2.796902 deg/s,
      cmd heading: 180.057574 deg,
      new cmd heading: 176.595853 deg.

2021-08-14T20:17:35.089Z,1628972255.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:35.378Z,1628972255.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:35.378Z,1628972255.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:35.378Z,1628972255.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:35.379Z,1628972255.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:35.774Z,1628972255.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,00D79,189,80,80,A5,FF
2021-08-14T20:17:35.774Z,1628972255.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:35.774Z,1628972255.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:35.776Z,1628972255.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:36.185Z,1628972256.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:36.605Z,1628972256.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,00D16,189,80,80,B4,FF
2021-08-14T20:17:36.607Z,1628972256.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:37.054Z,1628972257.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201737.78*51

2021-08-14T20:17:37.091Z,1628972257.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.500000 m, bearing: 140.875794 deg, deltaT: 4.533013 s, approachRate: -1.310387 m/s, LOS rate: -1.385435 deg/s, posRepo size: 4
2021-08-14T20:17:37.093Z,1628972257.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 140.875794 deg,
      approachRate: -1.310387 m/s,
      LOS rate: -1.385435 deg/s,
      cmd update: -5.541740 deg/s,
      cmd heading: 167.404554 deg,
      new cmd heading: 166.276494 deg.

2021-08-14T20:17:39.465Z,1628972259.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:39.821Z,1628972259.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:39.821Z,1628972259.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:39.821Z,1628972259.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:39.822Z,1628972259.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:40.221Z,1628972260.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,00D16,189,80,80,B4,FF
2021-08-14T20:17:40.221Z,1628972260.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:40.221Z,1628972260.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:40.223Z,1628972260.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:40.653Z,1628972260.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:41.045Z,1628972261.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,00CF0,189,80,80,B4,FF
2021-08-14T20:17:41.046Z,1628972261.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:41.473Z,1628972261.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201742.23*5D

2021-08-14T20:17:41.511Z,1628972261.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.220001 m, bearing: 141.759511 deg, deltaT: 4.412267 s, approachRate: -0.516741 m/s, LOS rate: 0.200286 deg/s, posRepo size: 4
2021-08-14T20:17:41.513Z,1628972261.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.220001 m,
      bearing: 141.759511 deg,
      approachRate: -0.516741 m/s,
      LOS rate: 0.200286 deg/s,
      cmd update: 0.801146 deg/s,
      cmd heading: 142.894302 deg,
      new cmd heading: 140.674380 deg.

2021-08-14T20:17:43.885Z,1628972263.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:44.261Z,1628972264.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:44.261Z,1628972264.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:44.261Z,1628972264.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:44.262Z,1628972264.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:44.673Z,1628972264.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00CF0,189,80,80,B4,FF
2021-08-14T20:17:44.673Z,1628972264.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:44.673Z,1628972264.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:44.675Z,1628972264.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:45.077Z,1628972265.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:45.482Z,1628972265.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,00CB9,186,80,80,B4,FF
2021-08-14T20:17:45.482Z,1628972265.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:45.909Z,1628972265.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201746.68*56

2021-08-14T20:17:45.955Z,1628972265.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.920013 m, bearing: 143.941606 deg, deltaT: 4.393265 s, approachRate: -0.751147 m/s, LOS rate: 0.496691 deg/s, posRepo size: 4
2021-08-14T20:17:45.961Z,1628972265.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.920013 m,
      bearing: 143.941606 deg,
      approachRate: -0.751147 m/s,
      LOS rate: 0.496691 deg/s,
      cmd update: 1.986764 deg/s,
      cmd heading: 146.413941 deg,
      new cmd heading: 146.775712 deg.

2021-08-14T20:17:48.323Z,1628972268.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:48.713Z,1628972268.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:48.713Z,1628972268.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:48.713Z,1628972268.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:48.714Z,1628972268.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:49.109Z,1628972269.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,00CB9,186,80,80,B4,FF
2021-08-14T20:17:49.109Z,1628972269.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:49.109Z,1628972269.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:49.111Z,1628972269.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:49.520Z,1628972269.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:49.922Z,1628972269.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,00C86,184,80,80,94,FF
2021-08-14T20:17:49.922Z,1628972269.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:50.369Z,1628972270.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201751.12*5D

2021-08-14T20:17:50.416Z,1628972270.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.860016 m, bearing: 145.511101 deg, deltaT: 4.447380 s, approachRate: -0.688045 m/s, LOS rate: 0.352903 deg/s, posRepo size: 4
2021-08-14T20:17:50.418Z,1628972270.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 145.511101 deg,
      approachRate: -0.688045 m/s,
      LOS rate: 0.352903 deg/s,
      cmd update: 1.411614 deg/s,
      cmd heading: 155.249817 deg,
      new cmd heading: 156.166458 deg.

2021-08-14T20:17:52.821Z,1628972272.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:53.164Z,1628972273.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:53.164Z,1628972273.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:53.164Z,1628972273.164 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:53.165Z,1628972273.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:53.553Z,1628972273.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,00C86,184,80,80,94,FF
2021-08-14T20:17:53.553Z,1628972273.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:53.553Z,1628972273.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:53.555Z,1628972273.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:53.961Z,1628972273.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:54.373Z,1628972274.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00C50,186,80,80,B2,FF
2021-08-14T20:17:54.374Z,1628972274.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:54.797Z,1628972274.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201755.56*59

2021-08-14T20:17:54.835Z,1628972274.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.620010 m, bearing: 144.439062 deg, deltaT: 4.463893 s, approachRate: -0.725825 m/s, LOS rate: -0.240158 deg/s, posRepo size: 4
2021-08-14T20:17:54.838Z,1628972274.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.620010 m,
      bearing: 144.439062 deg,
      approachRate: -0.725825 m/s,
      LOS rate: -0.240158 deg/s,
      cmd update: -0.960632 deg/s,
      cmd heading: 161.517376 deg,
      new cmd heading: 162.145263 deg.

2021-08-14T20:17:57.227Z,1628972277.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:17:57.609Z,1628972277.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:17:57.609Z,1628972277.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:17:57.609Z,1628972277.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:17:57.610Z,1628972277.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:17:57.993Z,1628972277.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00C50,186,80,80,B2,FF
2021-08-14T20:17:57.993Z,1628972277.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:17:57.994Z,1628972277.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:17:57.995Z,1628972277.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:17:58.430Z,1628972278.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:17:58.809Z,1628972278.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,00C18,186,80,80,93,FF
2021-08-14T20:17:58.809Z,1628972278.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:17:59.241Z,1628972279.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201800.00*55

2021-08-14T20:17:59.295Z,1628972279.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.259995 m, bearing: 143.235378 deg, deltaT: 4.446820 s, approachRate: -0.755600 m/s, LOS rate: -0.270684 deg/s, posRepo size: 4
2021-08-14T20:17:59.297Z,1628972279.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.259995 m,
      bearing: 143.235378 deg,
      approachRate: -0.755600 m/s,
      LOS rate: -0.270684 deg/s,
      cmd update: -1.082737 deg/s,
      cmd heading: 157.226829 deg,
      new cmd heading: 156.806105 deg.

2021-08-14T20:18:01.698Z,1628972281.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:02.045Z,1628972282.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:02.045Z,1628972282.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:02.045Z,1628972282.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:02.046Z,1628972282.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:02.461Z,1628972282.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,00C18,186,80,80,93,FF
2021-08-14T20:18:02.461Z,1628972282.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:02.461Z,1628972282.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:02.463Z,1628972282.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:02.857Z,1628972282.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:03.254Z,1628972283.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,00BE2,185,80,80,93,FF
2021-08-14T20:18:03.254Z,1628972283.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:03.685Z,1628972283.685 [Micromodem](INFO): Nmea in: $SNTTA,0.190736,,,,201804.47*46

2021-08-14T20:18:03.723Z,1628972283.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.020004 m, bearing: 143.446895 deg, deltaT: 4.457322 s, approachRate: -0.726892 m/s, LOS rate: 0.047454 deg/s, posRepo size: 4
2021-08-14T20:18:03.725Z,1628972283.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.020004 m,
      bearing: 143.446895 deg,
      approachRate: -0.726892 m/s,
      LOS rate: 0.047454 deg/s,
      cmd update: 0.189816 deg/s,
      cmd heading: 152.395813 deg,
      new cmd heading: 151.958434 deg.

2021-08-14T20:18:06.095Z,1628972286.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:06.482Z,1628972286.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:06.482Z,1628972286.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:06.483Z,1628972286.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:06.484Z,1628972286.484 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:06.885Z,1628972286.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,00BE2,185,80,80,93,FF
2021-08-14T20:18:06.885Z,1628972286.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:06.885Z,1628972286.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:06.887Z,1628972286.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:07.301Z,1628972287.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:07.708Z,1628972287.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,00BAC,186,80,80,98,FF
2021-08-14T20:18:07.710Z,1628972287.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:08.133Z,1628972288.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201808.89*5C

2021-08-14T20:18:08.180Z,1628972288.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.779999 m, bearing: 141.608960 deg, deltaT: 4.476580 s, approachRate: -0.723768 m/s, LOS rate: -0.410567 deg/s, posRepo size: 4
2021-08-14T20:18:08.182Z,1628972288.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.779999 m,
      bearing: 141.608960 deg,
      approachRate: -0.723768 m/s,
      LOS rate: -0.410567 deg/s,
      cmd update: -1.642268 deg/s,
      cmd heading: 153.243960 deg,
      new cmd heading: 153.318482 deg.

2021-08-14T20:18:10.539Z,1628972290.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:10.925Z,1628972290.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:10.925Z,1628972290.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:10.925Z,1628972290.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:10.926Z,1628972290.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:11.325Z,1628972291.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,00BAC,186,80,80,98,FF
2021-08-14T20:18:11.325Z,1628972291.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:11.326Z,1628972291.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:11.327Z,1628972291.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:11.737Z,1628972291.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:12.142Z,1628972292.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BC,000,00B77,186,80,80,AB,FF
2021-08-14T20:18:12.142Z,1628972292.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:12.593Z,1628972292.593 [Micromodem](INFO): Nmea in: $SNTTA,0.094571,,,,201813.33*47

2021-08-14T20:18:12.661Z,1628972292.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.600006 m, bearing: 141.833550 deg, deltaT: 4.363578 s, approachRate: -0.728758 m/s, LOS rate: 0.051469 deg/s, posRepo size: 4
2021-08-14T20:18:12.663Z,1628972292.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.600006 m,
      bearing: 141.833550 deg,
      approachRate: -0.728758 m/s,
      LOS rate: 0.051469 deg/s,
      cmd update: 0.205877 deg/s,
      cmd heading: 146.064119 deg,
      new cmd heading: 145.259626 deg.

2021-08-14T20:18:15.073Z,1628972295.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:15.373Z,1628972295.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:15.373Z,1628972295.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:15.373Z,1628972295.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:15.374Z,1628972295.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:15.786Z,1628972295.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BC,000,00B77,186,80,80,AB,FF
2021-08-14T20:18:15.786Z,1628972295.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:15.786Z,1628972295.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:15.788Z,1628972295.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:16.184Z,1628972296.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:16.608Z,1628972296.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00B3D,187,80,80,AB,FF
2021-08-14T20:18:16.609Z,1628972296.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:17.050Z,1628972297.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201817.80*5B

2021-08-14T20:18:17.089Z,1628972297.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.119995 m, bearing: 141.878028 deg, deltaT: 4.511164 s, approachRate: -0.771422 m/s, LOS rate: 0.009860 deg/s, posRepo size: 4
2021-08-14T20:18:17.091Z,1628972297.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.119995 m,
      bearing: 141.878028 deg,
      approachRate: -0.771422 m/s,
      LOS rate: 0.009860 deg/s,
      cmd update: 0.039438 deg/s,
      cmd heading: 146.990786 deg,
      new cmd heading: 147.078952 deg.

2021-08-14T20:18:19.467Z,1628972299.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:19.825Z,1628972299.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:19.825Z,1628972299.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:19.825Z,1628972299.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:19.826Z,1628972299.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:20.229Z,1628972300.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00B3D,187,80,80,AB,FF
2021-08-14T20:18:20.229Z,1628972300.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:20.229Z,1628972300.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:20.231Z,1628972300.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:20.661Z,1628972300.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:21.079Z,1628972301.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00B08,186,80,80,9F,FF
2021-08-14T20:18:21.079Z,1628972301.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:21.473Z,1628972301.473 [Micromodem](INFO): Nmea in: $SNTTA,0.307951,,,,201822.24*44

2021-08-14T20:18:21.508Z,1628972301.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.940002 m, bearing: 141.926468 deg, deltaT: 4.475535 s, approachRate: -0.710528 m/s, LOS rate: 0.010823 deg/s, posRepo size: 4
2021-08-14T20:18:21.510Z,1628972301.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.940002 m,
      bearing: 141.926468 deg,
      approachRate: -0.710528 m/s,
      LOS rate: 0.010823 deg/s,
      cmd update: 0.043293 deg/s,
      cmd heading: 147.167366 deg,
      new cmd heading: 147.181983 deg.

2021-08-14T20:18:23.893Z,1628972303.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:24.261Z,1628972304.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:24.261Z,1628972304.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:24.261Z,1628972304.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:24.262Z,1628972304.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:24.678Z,1628972304.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00B08,186,80,80,9F,FF
2021-08-14T20:18:24.678Z,1628972304.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:24.679Z,1628972304.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:24.681Z,1628972304.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:25.073Z,1628972305.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:25.491Z,1628972305.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00AD1,183,80,80,9E,FF
2021-08-14T20:18:25.493Z,1628972305.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:25.913Z,1628972305.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201826.69*5E

2021-08-14T20:18:25.939Z,1628972305.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.640015 m, bearing: 141.843467 deg, deltaT: 4.364509 s, approachRate: -0.756096 m/s, LOS rate: -0.019017 deg/s, posRepo size: 4
2021-08-14T20:18:25.961Z,1628972305.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.640015 m,
      bearing: 141.843467 deg,
      approachRate: -0.756096 m/s,
      LOS rate: -0.019017 deg/s,
      cmd update: -0.076069 deg/s,
      cmd heading: 147.356667 deg,
      new cmd heading: 147.375244 deg.

2021-08-14T20:18:28.320Z,1628972308.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:28.717Z,1628972308.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:28.717Z,1628972308.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:28.718Z,1628972308.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:28.719Z,1628972308.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:29.109Z,1628972309.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00AD1,183,80,80,9E,FF
2021-08-14T20:18:29.109Z,1628972309.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:29.109Z,1628972309.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:29.111Z,1628972309.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:29.531Z,1628972309.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:29.929Z,1628972309.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00A9D,187,80,80,B6,FF
2021-08-14T20:18:29.930Z,1628972309.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:30.370Z,1628972310.370 [Micromodem](INFO): Nmea in: $SNTTA,0.085810,,,,201831.12*4E

2021-08-14T20:18:30.413Z,1628972310.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 141.220704 deg, deltaT: 4.447417 s, approachRate: -0.701533 m/s, LOS rate: -0.140028 deg/s, posRepo size: 4
2021-08-14T20:18:30.415Z,1628972310.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.520004 m,
      bearing: 141.220704 deg,
      approachRate: -0.701533 m/s,
      LOS rate: -0.140028 deg/s,
      cmd update: -0.560112 deg/s,
      cmd heading: 147.018359 deg,
      new cmd heading: 146.983752 deg.

2021-08-14T20:18:32.830Z,1628972312.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:33.158Z,1628972313.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:33.159Z,1628972313.159 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:33.159Z,1628972313.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:33.160Z,1628972313.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:33.569Z,1628972313.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00A9D,187,80,80,B6,FF
2021-08-14T20:18:33.570Z,1628972313.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:33.571Z,1628972313.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:33.595Z,1628972313.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:33.966Z,1628972313.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:34.362Z,1628972314.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,00A66,183,80,80,B6,FF
2021-08-14T20:18:34.362Z,1628972314.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:34.779Z,1628972314.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201835.60*55

2021-08-14T20:18:34.841Z,1628972314.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.220009 m, bearing: 140.444645 deg, deltaT: 4.490011 s, approachRate: -0.734964 m/s, LOS rate: -0.172841 deg/s, posRepo size: 4
2021-08-14T20:18:34.843Z,1628972314.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.220009 m,
      bearing: 140.444645 deg,
      approachRate: -0.734964 m/s,
      LOS rate: -0.172841 deg/s,
      cmd update: -0.691366 deg/s,
      cmd heading: 144.510370 deg,
      new cmd heading: 144.288195 deg.

2021-08-14T20:18:37.249Z,1628972317.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:37.625Z,1628972317.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:37.625Z,1628972317.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:37.625Z,1628972317.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:37.626Z,1628972317.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:38.005Z,1628972318.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,00A66,183,80,80,B6,FF
2021-08-14T20:18:38.005Z,1628972318.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:38.005Z,1628972318.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:38.007Z,1628972318.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:38.405Z,1628972318.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:38.813Z,1628972318.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00A31,185,80,80,C0,FF
2021-08-14T20:18:38.814Z,1628972318.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:39.257Z,1628972319.257 [Micromodem](INFO): Nmea in: $SNTTA,0.081885,,,,201840.01*42

2021-08-14T20:18:39.351Z,1628972319.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 140.285692 deg, deltaT: 4.397856 s, approachRate: -0.723081 m/s, LOS rate: -0.036143 deg/s, posRepo size: 4
2021-08-14T20:18:39.358Z,1628972319.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 140.285692 deg,
      approachRate: -0.723081 m/s,
      LOS rate: -0.036143 deg/s,
      cmd update: -0.144572 deg/s,
      cmd heading: 141.461143 deg,
      new cmd heading: 141.111454 deg.

2021-08-14T20:18:41.718Z,1628972321.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:42.041Z,1628972322.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:42.041Z,1628972322.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:42.041Z,1628972322.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:42.042Z,1628972322.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:42.447Z,1628972322.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00A31,185,80,80,C0,FF
2021-08-14T20:18:42.447Z,1628972322.447 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:42.448Z,1628972322.448 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:42.450Z,1628972322.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:42.849Z,1628972322.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:43.258Z,1628972323.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,009FF,183,80,80,AF,FF
2021-08-14T20:18:43.258Z,1628972323.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:43.705Z,1628972323.705 [Micromodem](INFO): Nmea in: $SNTTA,0.196425,,,,201844.46*44

2021-08-14T20:18:43.754Z,1628972323.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.040009 m, bearing: 139.830843 deg, deltaT: 4.449034 s, approachRate: -0.674302 m/s, LOS rate: -0.102236 deg/s, posRepo size: 4
2021-08-14T20:18:43.758Z,1628972323.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.040009 m,
      bearing: 139.830843 deg,
      approachRate: -0.674302 m/s,
      LOS rate: -0.102236 deg/s,
      cmd update: -0.408942 deg/s,
      cmd heading: 140.817937 deg,
      new cmd heading: 140.751581 deg.

2021-08-14T20:18:46.102Z,1628972326.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:46.493Z,1628972326.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:46.493Z,1628972326.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:46.493Z,1628972326.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:46.494Z,1628972326.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:46.886Z,1628972326.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,009FF,183,80,80,AF,FF
2021-08-14T20:18:46.886Z,1628972326.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:46.886Z,1628972326.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:46.888Z,1628972326.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:47.293Z,1628972327.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:47.697Z,1628972327.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,009CA,184,80,80,C6,FF
2021-08-14T20:18:47.697Z,1628972327.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:48.125Z,1628972328.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201848.89*58

2021-08-14T20:18:48.165Z,1628972328.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.860001 m, bearing: 138.419753 deg, deltaT: 4.528909 s, approachRate: -0.702158 m/s, LOS rate: -0.311574 deg/s, posRepo size: 4
2021-08-14T20:18:48.167Z,1628972328.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.860001 m,
      bearing: 138.419753 deg,
      approachRate: -0.702158 m/s,
      LOS rate: -0.311574 deg/s,
      cmd update: -1.246296 deg/s,
      cmd heading: 138.967541 deg,
      new cmd heading: 138.826511 deg.

2021-08-14T20:18:50.538Z,1628972330.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:50.940Z,1628972330.940 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:50.940Z,1628972330.940 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:50.941Z,1628972330.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:50.942Z,1628972330.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:51.329Z,1628972331.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,009CA,184,80,80,C6,FF
2021-08-14T20:18:51.329Z,1628972331.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:51.329Z,1628972331.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:51.331Z,1628972331.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:51.745Z,1628972331.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:52.149Z,1628972332.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00999,185,80,80,A2,FF
2021-08-14T20:18:52.149Z,1628972332.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:52.577Z,1628972332.577 [Micromodem](INFO): Nmea in: $SNTTA,0.082970,,,,201853.34*4E

2021-08-14T20:18:52.639Z,1628972332.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 138.752206 deg, deltaT: 4.342997 s, approachRate: -0.676952 m/s, LOS rate: 0.076549 deg/s, posRepo size: 4
2021-08-14T20:18:52.647Z,1628972332.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.919998 m,
      bearing: 138.752206 deg,
      approachRate: -0.676952 m/s,
      LOS rate: 0.076549 deg/s,
      cmd update: 0.306197 deg/s,
      cmd heading: 133.549792 deg,
      new cmd heading: 132.961322 deg.

2021-08-14T20:18:55.039Z,1628972335.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:55.369Z,1628972335.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:55.369Z,1628972335.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:55.369Z,1628972335.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:55.370Z,1628972335.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:18:55.777Z,1628972335.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00999,185,80,80,A2,FF
2021-08-14T20:18:55.777Z,1628972335.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:18:55.777Z,1628972335.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:18:55.779Z,1628972335.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:18:56.185Z,1628972336.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:18:56.612Z,1628972336.612 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F99,000,00964,186,80,80,A5,FF
2021-08-14T20:18:56.612Z,1628972336.612 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:18:57.049Z,1628972337.049 [Micromodem](INFO): Nmea in: $SNTTA,0.086799,,,,201857.79*4E

2021-08-14T20:18:57.100Z,1628972337.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 138.062179 deg, deltaT: 4.510637 s, approachRate: -0.704999 m/s, LOS rate: -0.152978 deg/s, posRepo size: 4
2021-08-14T20:18:57.102Z,1628972337.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.740005 m,
      bearing: 138.062179 deg,
      approachRate: -0.704999 m/s,
      LOS rate: -0.152978 deg/s,
      cmd update: -0.611911 deg/s,
      cmd heading: 134.928419 deg,
      new cmd heading: 135.060410 deg.

2021-08-14T20:18:59.464Z,1628972339.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:18:59.813Z,1628972339.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:18:59.813Z,1628972339.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:18:59.813Z,1628972339.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:18:59.814Z,1628972339.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:00.225Z,1628972340.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F99,000,00964,186,80,80,A5,FF
2021-08-14T20:19:00.225Z,1628972340.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:00.226Z,1628972340.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:00.227Z,1628972340.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:00.657Z,1628972340.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:01.043Z,1628972341.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00932,187,80,80,94,FF
2021-08-14T20:19:01.044Z,1628972341.044 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:01.072Z,1628972341.072 [Micromodem](INFO): Nmea in: $SNTTA,0.309669,0.309775,,,201902.23*5B

2021-08-14T20:19:01.476Z,1628972341.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 138.101275 deg, deltaT: 4.456295 s, approachRate: -0.673207 m/s, LOS rate: 0.008773 deg/s, posRepo size: 4
2021-08-14T20:19:01.478Z,1628972341.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 138.101275 deg,
      approachRate: -0.673207 m/s,
      LOS rate: 0.008773 deg/s,
      cmd update: 0.035093 deg/s,
      cmd heading: 132.196533 deg,
      new cmd heading: 131.987082 deg.

2021-08-14T20:19:03.897Z,1628972343.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:04.257Z,1628972344.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:04.257Z,1628972344.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:04.257Z,1628972344.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:04.258Z,1628972344.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:04.658Z,1628972344.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00932,187,80,80,94,FF
2021-08-14T20:19:04.658Z,1628972344.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:04.658Z,1628972344.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:04.676Z,1628972344.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:05.069Z,1628972345.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:05.474Z,1628972345.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,008FF,187,80,80,AD,FF
2021-08-14T20:19:05.474Z,1628972345.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:05.909Z,1628972345.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201906.68*5C

2021-08-14T20:19:05.946Z,1628972345.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.680000 m, bearing: 137.946722 deg, deltaT: 4.393026 s, approachRate: -0.696558 m/s, LOS rate: -0.035182 deg/s, posRepo size: 4
2021-08-14T20:19:05.949Z,1628972345.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 137.946722 deg,
      approachRate: -0.696558 m/s,
      LOS rate: -0.035182 deg/s,
      cmd update: -0.140726 deg/s,
      cmd heading: 132.350693 deg,
      new cmd heading: 132.365428 deg.

2021-08-14T20:19:08.315Z,1628972348.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:08.719Z,1628972348.719 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:08.719Z,1628972348.719 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:08.719Z,1628972348.719 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:08.720Z,1628972348.720 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:09.105Z,1628972349.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,008FF,187,80,80,AD,FF
2021-08-14T20:19:09.105Z,1628972349.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:09.105Z,1628972349.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:09.107Z,1628972349.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:09.513Z,1628972349.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:09.925Z,1628972349.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,008CE,186,80,80,A8,FF
2021-08-14T20:19:09.926Z,1628972349.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:10.357Z,1628972350.357 [Micromodem](INFO): Nmea in: $SNTTA,0.064902,,,,201911.11*43

2021-08-14T20:19:10.374Z,1628972350.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.739998 m, bearing: 137.509057 deg, deltaT: 4.426298 s, approachRate: -0.664213 m/s, LOS rate: -0.098878 deg/s, posRepo size: 4
2021-08-14T20:19:10.377Z,1628972350.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.739998 m,
      bearing: 137.509057 deg,
      approachRate: -0.664213 m/s,
      LOS rate: -0.098878 deg/s,
      cmd update: -0.395513 deg/s,
      cmd heading: 131.727830 deg,
      new cmd heading: 131.668468 deg.

2021-08-14T20:19:12.809Z,1628972352.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:13.149Z,1628972353.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:13.150Z,1628972353.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:13.150Z,1628972353.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:13.151Z,1628972353.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:13.553Z,1628972353.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,008CE,186,80,80,A8,FF
2021-08-14T20:19:13.553Z,1628972353.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:13.553Z,1628972353.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:13.555Z,1628972353.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:13.965Z,1628972353.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:14.361Z,1628972354.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0089C,187,80,80,A0,FF
2021-08-14T20:19:14.362Z,1628972354.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:14.813Z,1628972354.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201915.56*53

2021-08-14T20:19:14.871Z,1628972354.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.740005 m, bearing: 137.512622 deg, deltaT: 4.468630 s, approachRate: -0.671345 m/s, LOS rate: 0.000798 deg/s, posRepo size: 4
2021-08-14T20:19:14.873Z,1628972354.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.740005 m,
      bearing: 137.512622 deg,
      approachRate: -0.671345 m/s,
      LOS rate: 0.000798 deg/s,
      cmd update: 0.003191 deg/s,
      cmd heading: 129.963975 deg,
      new cmd heading: 129.782539 deg.

2021-08-14T20:19:17.233Z,1628972357.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:17.616Z,1628972357.616 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:17.616Z,1628972357.616 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:17.616Z,1628972357.616 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:17.617Z,1628972357.617 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:17.997Z,1628972357.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0089C,187,80,80,A0,FF
2021-08-14T20:19:17.997Z,1628972357.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:17.998Z,1628972357.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:17.999Z,1628972357.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:18.417Z,1628972358.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:18.801Z,1628972358.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0086D,187,80,80,9B,FF
2021-08-14T20:19:18.801Z,1628972358.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:19.249Z,1628972359.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201920.01*57

2021-08-14T20:19:19.311Z,1628972359.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.920006 m, bearing: 135.769763 deg, deltaT: 4.434101 s, approachRate: -0.635980 m/s, LOS rate: -0.393058 deg/s, posRepo size: 4
2021-08-14T20:19:19.317Z,1628972359.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.920006 m,
      bearing: 135.769763 deg,
      approachRate: -0.635980 m/s,
      LOS rate: -0.393058 deg/s,
      cmd update: -1.572232 deg/s,
      cmd heading: 129.978156 deg,
      new cmd heading: 129.979589 deg.

2021-08-14T20:19:21.710Z,1628972361.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:22.033Z,1628972362.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:22.033Z,1628972362.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:22.033Z,1628972362.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:22.034Z,1628972362.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:22.458Z,1628972362.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0086D,187,80,80,9B,FF
2021-08-14T20:19:22.458Z,1628972362.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:22.458Z,1628972362.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:22.460Z,1628972362.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:22.860Z,1628972362.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:23.255Z,1628972363.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F28,000,0083C,186,80,80,9F,FF
2021-08-14T20:19:23.256Z,1628972363.256 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:23.261Z,1628972363.261 [Micromodem](INFO): Nmea in: $SNTTA,0.192659,0.192534,,,201924.47*59

2021-08-14T20:19:23.695Z,1628972363.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 137.095885 deg, deltaT: 4.481415 s, approachRate: -0.656043 m/s, LOS rate: 0.295916 deg/s, posRepo size: 4
2021-08-14T20:19:23.697Z,1628972363.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 137.095885 deg,
      approachRate: -0.656043 m/s,
      LOS rate: 0.295916 deg/s,
      cmd update: 1.183664 deg/s,
      cmd heading: 122.945245 deg,
      new cmd heading: 122.369786 deg.

2021-08-14T20:19:26.111Z,1628972366.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:26.485Z,1628972366.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:26.486Z,1628972366.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:26.486Z,1628972366.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:26.487Z,1628972366.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:26.886Z,1628972366.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F28,000,0083C,186,80,80,9F,FF
2021-08-14T20:19:26.887Z,1628972366.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:26.887Z,1628972366.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:26.888Z,1628972366.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:27.295Z,1628972367.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:27.695Z,1628972367.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0080C,186,80,80,A4,FF
2021-08-14T20:19:27.695Z,1628972367.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:28.138Z,1628972368.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201928.90*57

2021-08-14T20:19:28.163Z,1628972368.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.100006 m, bearing: 137.144270 deg, deltaT: 4.386031 s, approachRate: -0.656630 m/s, LOS rate: 0.011032 deg/s, posRepo size: 4
2021-08-14T20:19:28.186Z,1628972368.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.100006 m,
      bearing: 137.144270 deg,
      approachRate: -0.656630 m/s,
      LOS rate: 0.011032 deg/s,
      cmd update: 0.044127 deg/s,
      cmd heading: 128.146076 deg,
      new cmd heading: 128.667773 deg.

2021-08-14T20:19:30.564Z,1628972370.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:30.951Z,1628972370.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:30.952Z,1628972370.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:30.953Z,1628972370.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:30.954Z,1628972370.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:31.329Z,1628972371.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0080C,186,80,80,A4,FF
2021-08-14T20:19:31.329Z,1628972371.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:31.329Z,1628972371.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:31.331Z,1628972371.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:31.745Z,1628972371.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:32.145Z,1628972372.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,007DF,187,80,80,89,FF
2021-08-14T20:19:32.145Z,1628972372.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:32.593Z,1628972372.593 [Micromodem](INFO): Nmea in: $SNTTA,0.071602,,,,201933.34*4F

2021-08-14T20:19:32.643Z,1628972372.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.400002 m, bearing: 135.925409 deg, deltaT: 4.485353 s, approachRate: -0.601960 m/s, LOS rate: -0.271742 deg/s, posRepo size: 4
2021-08-14T20:19:32.645Z,1628972372.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.400002 m,
      bearing: 135.925409 deg,
      approachRate: -0.601960 m/s,
      LOS rate: -0.271742 deg/s,
      cmd update: -1.086970 deg/s,
      cmd heading: 128.343549 deg,
      new cmd heading: 128.363094 deg.

2021-08-14T20:19:35.045Z,1628972375.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:35.369Z,1628972375.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:35.369Z,1628972375.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:35.370Z,1628972375.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:35.371Z,1628972375.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:35.777Z,1628972375.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,007DF,187,80,80,89,FF
2021-08-14T20:19:35.777Z,1628972375.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:35.777Z,1628972375.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:35.779Z,1628972375.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:36.184Z,1628972376.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:36.593Z,1628972376.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,007AB,186,80,80,8A,FF
2021-08-14T20:19:36.594Z,1628972376.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:37.048Z,1628972377.048 [Micromodem](INFO): Nmea in: $SNTTA,0.491433,,,,201937.79*48

2021-08-14T20:19:37.128Z,1628972377.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.279999 m, bearing: 134.950796 deg, deltaT: 4.446984 s, approachRate: -0.701600 m/s, LOS rate: -0.219163 deg/s, posRepo size: 4
2021-08-14T20:19:37.130Z,1628972377.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.279999 m,
      bearing: 134.950796 deg,
      approachRate: -0.701600 m/s,
      LOS rate: -0.219163 deg/s,
      cmd update: -0.876651 deg/s,
      cmd heading: 123.498281 deg,
      new cmd heading: 122.984482 deg.

2021-08-14T20:19:39.474Z,1628972379.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:39.853Z,1628972379.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:39.853Z,1628972379.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:39.853Z,1628972379.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:39.854Z,1628972379.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:40.257Z,1628972380.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,007AB,186,80,80,8A,FF
2021-08-14T20:19:40.257Z,1628972380.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:40.257Z,1628972380.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:40.259Z,1628972380.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:40.664Z,1628972380.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:41.109Z,1628972381.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,0077D,187,80,80,9F,FF
2021-08-14T20:19:41.109Z,1628972381.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:41.112Z,1628972381.112 [Micromodem](INFO): Nmea in: $SNTTA,0.051426,0.293605,,,201942.26*59

2021-08-14T20:19:41.512Z,1628972381.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.519997 m, bearing: 134.805299 deg, deltaT: 4.561361 s, approachRate: -0.605083 m/s, LOS rate: -0.031898 deg/s, posRepo size: 4
2021-08-14T20:19:41.514Z,1628972381.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.519997 m,
      bearing: 134.805299 deg,
      approachRate: -0.605083 m/s,
      LOS rate: -0.031898 deg/s,
      cmd update: -0.127591 deg/s,
      cmd heading: 119.506938 deg,
      new cmd heading: 119.240973 deg.

2021-08-14T20:19:43.941Z,1628972383.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:44.297Z,1628972384.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:44.297Z,1628972384.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:44.297Z,1628972384.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:44.298Z,1628972384.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:44.706Z,1628972384.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,0077D,187,80,80,9F,FF
2021-08-14T20:19:44.706Z,1628972384.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:44.706Z,1628972384.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:44.708Z,1628972384.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:45.109Z,1628972385.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:45.517Z,1628972385.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,0074E,186,80,80,B2,FF
2021-08-14T20:19:45.518Z,1628972385.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:45.949Z,1628972385.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201946.71*50

2021-08-14T20:19:46.003Z,1628972386.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.700005 m, bearing: 136.829152 deg, deltaT: 4.318280 s, approachRate: -0.653036 m/s, LOS rate: 0.468671 deg/s, posRepo size: 4
2021-08-14T20:19:46.011Z,1628972386.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.700005 m,
      bearing: 136.829152 deg,
      approachRate: -0.653036 m/s,
      LOS rate: 0.468671 deg/s,
      cmd update: 1.874685 deg/s,
      cmd heading: 118.954894 deg,
      new cmd heading: 118.895367 deg.

2021-08-14T20:19:48.372Z,1628972388.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:48.741Z,1628972388.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:48.741Z,1628972388.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:48.741Z,1628972388.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:48.742Z,1628972388.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:49.152Z,1628972389.152 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,0074E,186,80,80,B2,FF
2021-08-14T20:19:49.152Z,1628972389.152 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:49.153Z,1628972389.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:49.154Z,1628972389.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:49.569Z,1628972389.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:49.953Z,1628972389.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00720,186,80,80,B3,FF
2021-08-14T20:19:49.953Z,1628972389.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:50.398Z,1628972390.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201951.16*57

2021-08-14T20:19:50.414Z,1628972390.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 137.110160 deg, deltaT: 4.478680 s, approachRate: -0.616255 m/s, LOS rate: 0.062743 deg/s, posRepo size: 4
2021-08-14T20:19:50.416Z,1628972390.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.939995 m,
      bearing: 137.110160 deg,
      approachRate: -0.616255 m/s,
      LOS rate: 0.062743 deg/s,
      cmd update: 0.250974 deg/s,
      cmd heading: 127.334602 deg,
      new cmd heading: 128.101554 deg.

2021-08-14T20:19:52.853Z,1628972392.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:53.197Z,1628972393.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:53.198Z,1628972393.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:53.198Z,1628972393.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:53.199Z,1628972393.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:53.616Z,1628972393.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00720,186,80,80,B3,FF
2021-08-14T20:19:53.616Z,1628972393.616 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:53.616Z,1628972393.616 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:53.618Z,1628972393.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:54.025Z,1628972394.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:54.405Z,1628972394.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,006F3,187,80,80,8D,FF
2021-08-14T20:19:54.406Z,1628972394.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:54.818Z,1628972394.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201955.63*51

2021-08-14T20:19:54.859Z,1628972394.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 135.775172 deg, deltaT: 4.451435 s, approachRate: -0.606544 m/s, LOS rate: -0.299901 deg/s, posRepo size: 4
2021-08-14T20:19:54.861Z,1628972394.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 135.775172 deg,
      approachRate: -0.606544 m/s,
      LOS rate: -0.299901 deg/s,
      cmd update: -1.199602 deg/s,
      cmd heading: 128.451893 deg,
      new cmd heading: 128.552826 deg.

2021-08-14T20:19:57.268Z,1628972397.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:19:57.645Z,1628972397.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:19:57.645Z,1628972397.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:19:57.645Z,1628972397.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:19:57.646Z,1628972397.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:19:58.041Z,1628972398.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,006F3,187,80,80,8D,FF
2021-08-14T20:19:58.041Z,1628972398.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:19:58.041Z,1628972398.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:19:58.043Z,1628972398.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:19:58.444Z,1628972398.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:19:58.845Z,1628972398.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,006C4,186,80,80,C7,FF
2021-08-14T20:19:58.845Z,1628972398.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:19:59.285Z,1628972399.285 [Micromodem](INFO): Nmea in: $SNTTA,0.053172,,,,202000.05*47

2021-08-14T20:19:59.379Z,1628972399.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 133.237566 deg, deltaT: 4.436306 s, approachRate: -0.635666 m/s, LOS rate: -0.572009 deg/s, posRepo size: 4
2021-08-14T20:19:59.381Z,1628972399.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.419998 m,
      bearing: 133.237566 deg,
      approachRate: -0.635666 m/s,
      LOS rate: -0.572009 deg/s,
      cmd update: -2.288036 deg/s,
      cmd heading: 123.124812 deg,
      new cmd heading: 122.547447 deg.

2021-08-14T20:20:01.698Z,1628972401.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:02.073Z,1628972402.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:02.073Z,1628972402.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:02.073Z,1628972402.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:02.074Z,1628972402.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:02.497Z,1628972402.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,006C4,186,80,80,C7,FF
2021-08-14T20:20:02.497Z,1628972402.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:02.498Z,1628972402.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:02.499Z,1628972402.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:02.900Z,1628972402.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:03.285Z,1628972403.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00690,186,80,80,A0,FF
2021-08-14T20:20:03.285Z,1628972403.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:03.717Z,1628972403.717 [Micromodem](INFO): Nmea in: $SNTTA,0.057632,,,,202004.51*45

2021-08-14T20:20:03.743Z,1628972403.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 134.884475 deg, deltaT: 4.462551 s, approachRate: -0.699151 m/s, LOS rate: 0.369051 deg/s, posRepo size: 4
2021-08-14T20:20:03.746Z,1628972403.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.299999 m,
      bearing: 134.884475 deg,
      approachRate: -0.699151 m/s,
      LOS rate: 0.369051 deg/s,
      cmd update: 1.476204 deg/s,
      cmd heading: 112.906659 deg,
      new cmd heading: 112.036817 deg.

2021-08-14T20:20:05.972Z,1628972405.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:06.153Z,1628972406.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:06.153Z,1628972406.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:06.153Z,1628972406.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:06.154Z,1628972406.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:06.562Z,1628972406.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00690,186,80,80,A0,FF
2021-08-14T20:20:06.563Z,1628972406.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:06.563Z,1628972406.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:06.570Z,1628972406.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:06.999Z,1628972406.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:07.361Z,1628972407.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00663,186,80,80,B9,FF
2021-08-14T20:20:07.361Z,1628972407.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:07.793Z,1628972407.793 [Micromodem](INFO): Nmea in: $SNTTA,0.051379,,,,202008.58*4C

2021-08-14T20:20:07.868Z,1628972407.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 135.953290 deg, deltaT: 4.014722 s, approachRate: -0.672525 m/s, LOS rate: 0.266224 deg/s, posRepo size: 4
2021-08-14T20:20:07.870Z,1628972407.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 135.953290 deg,
      approachRate: -0.672525 m/s,
      LOS rate: 0.266224 deg/s,
      cmd update: 1.064896 deg/s,
      cmd heading: 118.834138 deg,
      new cmd heading: 119.550010 deg.

2021-08-14T20:20:10.211Z,1628972410.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:10.610Z,1628972410.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:10.610Z,1628972410.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:10.611Z,1628972410.611 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:10.611Z,1628972410.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:11.045Z,1628972411.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00663,186,80,80,B9,FF
2021-08-14T20:20:11.045Z,1628972411.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:11.046Z,1628972411.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:11.047Z,1628972411.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:11.413Z,1628972411.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:11.801Z,1628972411.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,00639,186,80,80,AE,FF
2021-08-14T20:20:11.801Z,1628972411.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:12.231Z,1628972412.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202013.05*59

2021-08-14T20:20:12.279Z,1628972412.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 136.778500 deg, deltaT: 4.482198 s, approachRate: -0.562223 m/s, LOS rate: 0.184108 deg/s, posRepo size: 4
2021-08-14T20:20:12.281Z,1628972412.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.080006 m,
      bearing: 136.778500 deg,
      approachRate: -0.562223 m/s,
      LOS rate: 0.184108 deg/s,
      cmd update: 0.736433 deg/s,
      cmd heading: 123.598475 deg,
      new cmd heading: 124.052661 deg.

2021-08-14T20:20:14.685Z,1628972414.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:15.042Z,1628972415.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:15.042Z,1628972415.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:15.043Z,1628972415.043 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:15.043Z,1628972415.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:15.451Z,1628972415.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,00639,186,80,80,AE,FF
2021-08-14T20:20:15.451Z,1628972415.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:15.451Z,1628972415.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:15.454Z,1628972415.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:15.845Z,1628972415.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:16.245Z,1628972416.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00609,186,80,80,A9,FF
2021-08-14T20:20:16.246Z,1628972416.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:16.677Z,1628972416.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202017.46*5A

2021-08-14T20:20:16.730Z,1628972416.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 134.759714 deg, deltaT: 4.401778 s, approachRate: -0.654283 m/s, LOS rate: -0.458630 deg/s, posRepo size: 4
2021-08-14T20:20:16.731Z,1628972416.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.199997 m,
      bearing: 134.759714 deg,
      approachRate: -0.654283 m/s,
      LOS rate: -0.458630 deg/s,
      cmd update: -1.834518 deg/s,
      cmd heading: 126.846113 deg,
      new cmd heading: 127.189976 deg.

2021-08-14T20:20:19.127Z,1628972419.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:19.485Z,1628972419.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:19.485Z,1628972419.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:19.485Z,1628972419.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:19.486Z,1628972419.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:19.881Z,1628972419.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00609,186,80,80,A9,FF
2021-08-14T20:20:19.881Z,1628972419.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:19.881Z,1628972419.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:19.883Z,1628972419.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:20.304Z,1628972420.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:20.689Z,1628972420.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,005DB,186,80,80,AD,FF
2021-08-14T20:20:20.690Z,1628972420.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:21.134Z,1628972421.134 [Micromodem](INFO): Nmea in: $SNTTA,0.439419,0.439538,,,202021.89*5E

2021-08-14T20:20:21.173Z,1628972421.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 132.944359 deg, deltaT: 4.485622 s, approachRate: -0.615298 m/s, LOS rate: -0.404705 deg/s, posRepo size: 4
2021-08-14T20:20:21.175Z,1628972421.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.440002 m,
      bearing: 132.944359 deg,
      approachRate: -0.615298 m/s,
      LOS rate: -0.404705 deg/s,
      cmd update: -1.618821 deg/s,
      cmd heading: 118.624644 deg,
      new cmd heading: 117.838227 deg.

2021-08-14T20:20:23.559Z,1628972423.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:23.921Z,1628972423.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:23.921Z,1628972423.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:23.921Z,1628972423.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:23.922Z,1628972423.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:24.345Z,1628972424.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,005DB,186,80,80,AD,FF
2021-08-14T20:20:24.345Z,1628972424.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:24.345Z,1628972424.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:24.347Z,1628972424.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:24.732Z,1628972424.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:25.149Z,1628972425.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,005AE,187,80,80,8B,FF
2021-08-14T20:20:25.150Z,1628972425.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:25.569Z,1628972425.569 [Micromodem](INFO): Nmea in: $SNTTA,0.062326,,,,202026.36*42

2021-08-14T20:20:25.631Z,1628972425.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 132.408449 deg, deltaT: 4.461817 s, approachRate: -0.605135 m/s, LOS rate: -0.120110 deg/s, posRepo size: 4
2021-08-14T20:20:25.633Z,1628972425.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.740002 m,
      bearing: 132.408449 deg,
      approachRate: -0.605135 m/s,
      LOS rate: -0.120110 deg/s,
      cmd update: -0.480441 deg/s,
      cmd heading: 111.434009 deg,
      new cmd heading: 110.714503 deg.

2021-08-14T20:20:27.994Z,1628972427.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:28.383Z,1628972428.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:28.383Z,1628972428.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:28.383Z,1628972428.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:28.384Z,1628972428.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:28.769Z,1628972428.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,005AE,187,80,80,8B,FF
2021-08-14T20:20:28.769Z,1628972428.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:28.769Z,1628972428.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:28.771Z,1628972428.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:29.187Z,1628972429.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:29.598Z,1628972429.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,0057D,187,80,80,7F,FF
2021-08-14T20:20:29.600Z,1628972429.600 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:30.029Z,1628972430.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202030.78*52

2021-08-14T20:20:30.045Z,1628972430.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 135.810839 deg, deltaT: 4.461738 s, approachRate: -0.658936 m/s, LOS rate: 0.762571 deg/s, posRepo size: 4
2021-08-14T20:20:30.047Z,1628972430.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 135.810839 deg,
      approachRate: -0.658936 m/s,
      LOS rate: 0.762571 deg/s,
      cmd update: 3.050283 deg/s,
      cmd heading: 109.280825 deg,
      new cmd heading: 109.099844 deg.

2021-08-14T20:20:32.462Z,1628972432.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:32.813Z,1628972432.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:32.814Z,1628972432.814 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:32.814Z,1628972432.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:32.815Z,1628972432.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:33.214Z,1628972433.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,0057D,187,80,80,7F,FF
2021-08-14T20:20:33.214Z,1628972433.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:33.214Z,1628972433.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:33.217Z,1628972433.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:33.666Z,1628972433.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:34.086Z,1628972434.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,0054E,189,80,80,8D,FF
2021-08-14T20:20:34.086Z,1628972434.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:34.495Z,1628972434.495 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202035.23*59

2021-08-14T20:20:34.516Z,1628972434.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 138.470870 deg, deltaT: 4.431370 s, approachRate: -0.636373 m/s, LOS rate: 0.600273 deg/s, posRepo size: 4
2021-08-14T20:20:34.518Z,1628972434.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.980000 m,
      bearing: 138.470870 deg,
      approachRate: -0.636373 m/s,
      LOS rate: 0.600273 deg/s,
      cmd update: 2.401091 deg/s,
      cmd heading: 122.810176 deg,
      new cmd heading: 124.068189 deg.

2021-08-14T20:20:36.918Z,1628972436.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:37.286Z,1628972437.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:37.286Z,1628972437.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:37.286Z,1628972437.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:37.286Z,1628972437.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:37.701Z,1628972437.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,0054E,189,80,80,8D,FF
2021-08-14T20:20:37.701Z,1628972437.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:37.702Z,1628972437.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:37.703Z,1628972437.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:38.103Z,1628972438.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:38.501Z,1628972438.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,0051F,186,80,80,55,FF
2021-08-14T20:20:38.501Z,1628972438.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:38.981Z,1628972438.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202039.71*52

2021-08-14T20:20:39.059Z,1628972439.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 138.051497 deg, deltaT: 4.415044 s, approachRate: -0.638726 m/s, LOS rate: -0.094987 deg/s, posRepo size: 4
2021-08-14T20:20:39.061Z,1628972439.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.159996 m,
      bearing: 138.051497 deg,
      approachRate: -0.638726 m/s,
      LOS rate: -0.094987 deg/s,
      cmd update: -0.379950 deg/s,
      cmd heading: 133.411138 deg,
      new cmd heading: 134.709257 deg.

2021-08-14T20:20:41.403Z,1628972441.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:41.733Z,1628972441.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:41.733Z,1628972441.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:41.733Z,1628972441.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:41.734Z,1628972441.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:42.145Z,1628972442.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,0051F,186,80,80,55,FF
2021-08-14T20:20:42.145Z,1628972442.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:42.145Z,1628972442.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:42.147Z,1628972442.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:42.545Z,1628972442.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:42.957Z,1628972442.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,004EC,183,80,80,98,FF
2021-08-14T20:20:42.958Z,1628972442.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:43.389Z,1628972443.389 [Micromodem](INFO): Nmea in: $SNTTA,0.058734,,,,202044.15*49

2021-08-14T20:20:43.440Z,1628972443.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 129.683846 deg, deltaT: 4.613905 s, approachRate: -0.663212 m/s, LOS rate: -1.813573 deg/s, posRepo size: 4
2021-08-14T20:20:43.441Z,1628972443.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m.
2021-08-14T20:20:43.451Z,1628972443.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.099998 m,
      bearing: 129.683846 deg,
      approachRate: -0.663212 m/s,
      LOS rate: -1.813573 deg/s,
      cmd update: -7.254290 deg/s,
      cmd heading: 131.659616 deg,
      new cmd heading: 131.551904 deg.

2021-08-14T20:20:43.812Z,1628972443.812 [PowerOnly](INFO): Powering up loadControl
2021-08-14T20:20:43.869Z,1628972443.869 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:20:43.869Z,1628972443.869 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:20:43.869Z,1628972443.869 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:20:43.870Z,1628972443.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:20:43.870Z,1628972443.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:20:43.870Z,1628972443.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:20:44.219Z,1628972444.219 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:20:44.220Z,1628972444.220 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:20:44.220Z,1628972444.220 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:20:44.220Z,1628972444.220 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:20:45.850Z,1628972445.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:46.177Z,1628972446.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:46.177Z,1628972446.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:46.177Z,1628972446.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:46.178Z,1628972446.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:46.588Z,1628972446.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,004EC,183,80,80,98,FF
2021-08-14T20:20:46.589Z,1628972446.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:46.589Z,1628972446.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:46.596Z,1628972446.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:47.029Z,1628972447.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:47.397Z,1628972447.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,004BD,182,80,80,9A,FF
2021-08-14T20:20:47.397Z,1628972447.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:47.452Z,1628972447.452 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:20:47.839Z,1628972447.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202048.60*54

2021-08-14T20:20:47.947Z,1628972447.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 127.965589 deg, deltaT: 4.317639 s, approachRate: -0.653135 m/s, LOS rate: -0.397962 deg/s, posRepo size: 4
2021-08-14T20:20:47.947Z,1628972447.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.28 m.
2021-08-14T20:20:47.954Z,1628972447.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.279999 m,
      bearing: 127.965589 deg,
      approachRate: -0.653135 m/s,
      LOS rate: -0.397962 deg/s,
      cmd update: -1.591849 deg/s,
      cmd heading: 100.392929 deg,
      new cmd heading: 96.702476 deg.

2021-08-14T20:20:50.260Z,1628972450.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:50.657Z,1628972450.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:50.657Z,1628972450.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:50.657Z,1628972450.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:50.658Z,1628972450.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:51.041Z,1628972451.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,004BD,182,80,80,9A,FF
2021-08-14T20:20:51.041Z,1628972451.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:51.041Z,1628972451.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:51.043Z,1628972451.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:51.595Z,1628972451.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:51.885Z,1628972451.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,0048F,186,80,80,5C,FF
2021-08-14T20:20:51.885Z,1628972451.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:51.906Z,1628972451.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:20:52.302Z,1628972452.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202053.05*5D

2021-08-14T20:20:52.318Z,1628972452.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 130.177272 deg, deltaT: 4.453411 s, approachRate: -0.619749 m/s, LOS rate: 0.496627 deg/s, posRepo size: 4
2021-08-14T20:20:52.319Z,1628972452.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.52 m.
2021-08-14T20:20:52.321Z,1628972452.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.520000 m,
      bearing: 130.177272 deg,
      approachRate: -0.619749 m/s,
      LOS rate: 0.496627 deg/s,
      cmd update: 1.986507 deg/s,
      cmd heading: 93.286161 deg,
      new cmd heading: 92.624246 deg.

2021-08-14T20:20:54.760Z,1628972454.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:55.121Z,1628972455.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:55.121Z,1628972455.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:55.121Z,1628972455.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:55.122Z,1628972455.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:55.521Z,1628972455.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,0048F,186,80,80,5C,FF
2021-08-14T20:20:55.522Z,1628972455.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:55.522Z,1628972455.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:55.523Z,1628972455.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:20:55.933Z,1628972455.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:20:56.326Z,1628972456.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,0046A,189,80,80,66,FF
2021-08-14T20:20:56.326Z,1628972456.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:20:56.347Z,1628972456.347 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:20:56.789Z,1628972456.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202057.53*5A

2021-08-14T20:20:56.855Z,1628972456.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 130.706366 deg, deltaT: 4.440736 s, approachRate: -0.499917 m/s, LOS rate: 0.119146 deg/s, posRepo size: 4
2021-08-14T20:20:56.855Z,1628972456.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.30 m.
2021-08-14T20:20:56.860Z,1628972456.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.30 m.
2021-08-14T20:20:56.860Z,1628972456.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T20:20:56.868Z,1628972456.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.300001 m,
      bearing: 130.706366 deg,
      approachRate: -0.499917 m/s,
      LOS rate: 0.119146 deg/s,
      cmd update: 0.476582 deg/s,
      cmd heading: 102.107737 deg,
      new cmd heading: 103.121226 deg.

2021-08-14T20:20:59.213Z,1628972459.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:20:59.568Z,1628972459.568 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:20:59.568Z,1628972459.568 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:20:59.569Z,1628972459.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:20:59.570Z,1628972459.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:20:59.961Z,1628972459.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,0046A,189,80,80,66,FF
2021-08-14T20:20:59.961Z,1628972459.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:20:59.961Z,1628972459.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:20:59.963Z,1628972459.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:00.369Z,1628972460.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:00.789Z,1628972460.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,00448,189,80,80,43,FF
2021-08-14T20:21:00.789Z,1628972460.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:00.841Z,1628972460.841 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:01.225Z,1628972461.225 [Micromodem](INFO): Nmea in: $SNTTA,0.036047,,,,202101.97*48

2021-08-14T20:21:01.281Z,1628972461.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 126.623975 deg, deltaT: 4.494057 s, approachRate: -0.453934 m/s, LOS rate: -0.908398 deg/s, posRepo size: 4
2021-08-14T20:21:01.283Z,1628972461.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.259996 m,
      bearing: 126.623975 deg,
      approachRate: -0.453934 m/s,
      LOS rate: -0.908398 deg/s,
      cmd update: -3.633590 deg/s,
      cmd heading: 104.239755 deg,
      new cmd heading: 104.460890 deg.

2021-08-14T20:21:03.679Z,1628972463.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:04.021Z,1628972464.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:04.021Z,1628972464.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:04.021Z,1628972464.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:04.022Z,1628972464.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:04.418Z,1628972464.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,00448,189,80,80,43,FF
2021-08-14T20:21:04.418Z,1628972464.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:04.418Z,1628972464.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:04.421Z,1628972464.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:04.828Z,1628972464.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:05.229Z,1628972465.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00425,188,80,80,6D,FF
2021-08-14T20:21:05.229Z,1628972465.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:05.290Z,1628972465.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:05.669Z,1628972465.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202106.43*5E

2021-08-14T20:21:05.730Z,1628972465.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 131.117092 deg, deltaT: 4.448815 s, approachRate: -0.472035 m/s, LOS rate: 1.009958 deg/s, posRepo size: 4
2021-08-14T20:21:05.736Z,1628972465.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.160002 m,
      bearing: 131.117092 deg,
      approachRate: -0.472035 m/s,
      LOS rate: 1.009958 deg/s,
      cmd update: 4.039833 deg/s,
      cmd heading: 87.999365 deg,
      new cmd heading: 86.388871 deg.

2021-08-14T20:21:08.083Z,1628972468.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:08.465Z,1628972468.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:08.465Z,1628972468.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:08.465Z,1628972468.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:08.466Z,1628972468.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:08.869Z,1628972468.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,00425,188,80,80,6D,FF
2021-08-14T20:21:08.869Z,1628972468.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:08.869Z,1628972468.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:08.871Z,1628972468.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:09.278Z,1628972469.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:09.669Z,1628972469.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,003FB,18A,80,80,51,FF
2021-08-14T20:21:09.669Z,1628972469.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:09.767Z,1628972469.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:10.114Z,1628972470.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202110.88*5E

2021-08-14T20:21:10.137Z,1628972470.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 130.990406 deg, deltaT: 4.478117 s, approachRate: -0.562737 m/s, LOS rate: -0.028290 deg/s, posRepo size: 4
2021-08-14T20:21:10.139Z,1628972470.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 130.990406 deg,
      approachRate: -0.562737 m/s,
      LOS rate: -0.028290 deg/s,
      cmd update: -0.113160 deg/s,
      cmd heading: 106.089147 deg,
      new cmd heading: 107.592219 deg.

2021-08-14T20:21:10.907Z,1628972470.907 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:21:12.535Z,1628972472.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:12.918Z,1628972472.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:12.918Z,1628972472.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:12.918Z,1628972472.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:12.919Z,1628972472.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:13.313Z,1628972473.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,003FB,18A,80,80,51,FF
2021-08-14T20:21:13.313Z,1628972473.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:13.313Z,1628972473.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:13.315Z,1628972473.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:13.718Z,1628972473.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:14.113Z,1628972474.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,003D7,189,80,80,95,FF
2021-08-14T20:21:14.114Z,1628972474.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:14.162Z,1628972474.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:14.557Z,1628972474.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202115.32*5A

2021-08-14T20:21:14.619Z,1628972474.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 129.752653 deg, deltaT: 4.394084 s, approachRate: -0.491570 m/s, LOS rate: -0.281686 deg/s, posRepo size: 4
2021-08-14T20:21:14.626Z,1628972474.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 129.752653 deg,
      approachRate: -0.491570 m/s,
      LOS rate: -0.281686 deg/s,
      cmd update: -1.126745 deg/s,
      cmd heading: 105.591884 deg,
      new cmd heading: 105.540022 deg.

2021-08-14T20:21:17.023Z,1628972477.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:17.345Z,1628972477.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:17.345Z,1628972477.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:17.345Z,1628972477.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:17.346Z,1628972477.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:17.749Z,1628972477.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,003D7,189,80,80,95,FF
2021-08-14T20:21:17.749Z,1628972477.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:17.749Z,1628972477.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:17.751Z,1628972477.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:18.156Z,1628972478.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:18.560Z,1628972478.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,003B1,187,80,80,B7,FF
2021-08-14T20:21:18.562Z,1628972478.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:18.645Z,1628972478.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:19.025Z,1628972479.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202119.76*56

2021-08-14T20:21:19.109Z,1628972479.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 136.027876 deg, deltaT: 4.483169 s, approachRate: -0.508569 m/s, LOS rate: 1.399729 deg/s, posRepo size: 4
2021-08-14T20:21:19.111Z,1628972479.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 136.027876 deg,
      approachRate: -0.508569 m/s,
      LOS rate: 1.399729 deg/s,
      cmd update: 5.598917 deg/s,
      cmd heading: 100.552536 deg,
      new cmd heading: 100.018551 deg.

2021-08-14T20:21:21.403Z,1628972481.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:21.785Z,1628972481.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:21.785Z,1628972481.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:21.785Z,1628972481.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:21.786Z,1628972481.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:22.193Z,1628972482.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,003B1,187,80,80,B7,FF
2021-08-14T20:21:22.193Z,1628972482.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:22.193Z,1628972482.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:22.195Z,1628972482.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:22.616Z,1628972482.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:23.036Z,1628972483.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,0038C,189,80,80,56,FF
2021-08-14T20:21:23.038Z,1628972483.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:23.119Z,1628972483.119 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:23.446Z,1628972483.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202124.20*5B

2021-08-14T20:21:23.486Z,1628972483.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 137.702529 deg, deltaT: 4.478610 s, approachRate: -0.495689 m/s, LOS rate: 0.373923 deg/s, posRepo size: 4
2021-08-14T20:21:23.488Z,1628972483.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.980001 m,
      bearing: 137.702529 deg,
      approachRate: -0.495689 m/s,
      LOS rate: 0.373923 deg/s,
      cmd update: 1.495690 deg/s,
      cmd heading: 125.641305 deg,
      new cmd heading: 127.734645 deg.

2021-08-14T20:21:25.875Z,1628972485.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:26.237Z,1628972486.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:26.237Z,1628972486.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:26.237Z,1628972486.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:26.238Z,1628972486.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:26.649Z,1628972486.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,0038C,189,80,80,56,FF
2021-08-14T20:21:26.649Z,1628972486.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:26.649Z,1628972486.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:26.651Z,1628972486.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:27.064Z,1628972487.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:27.450Z,1628972487.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00365,186,80,80,A1,FF
2021-08-14T20:21:27.450Z,1628972487.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:27.493Z,1628972487.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:27.885Z,1628972487.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202128.66*55

2021-08-14T20:21:27.935Z,1628972487.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 134.087446 deg, deltaT: 4.369045 s, approachRate: -0.535587 m/s, LOS rate: -0.827431 deg/s, posRepo size: 4
2021-08-14T20:21:27.937Z,1628972487.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.639997 m,
      bearing: 134.087446 deg,
      approachRate: -0.535587 m/s,
      LOS rate: -0.827431 deg/s,
      cmd update: -3.309723 deg/s,
      cmd heading: 132.158536 deg,
      new cmd heading: 132.854908 deg.

2021-08-14T20:21:30.317Z,1628972490.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:30.696Z,1628972490.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:30.697Z,1628972490.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:30.697Z,1628972490.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:30.698Z,1628972490.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:31.089Z,1628972491.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00365,186,80,80,A1,FF
2021-08-14T20:21:31.089Z,1628972491.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:31.090Z,1628972491.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:31.091Z,1628972491.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:31.497Z,1628972491.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:31.897Z,1628972491.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,0033C,187,80,80,85,FF
2021-08-14T20:21:31.898Z,1628972491.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:31.954Z,1628972491.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:32.345Z,1628972492.345 [Micromodem](INFO): Nmea in: $SNTTA,0.037674,,,,202133.10*41

2021-08-14T20:21:32.365Z,1628972492.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 134.480100 deg, deltaT: 4.461532 s, approachRate: -0.551380 m/s, LOS rate: 0.088009 deg/s, posRepo size: 4
2021-08-14T20:21:32.366Z,1628972492.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 134.480100 deg,
      approachRate: -0.551380 m/s,
      LOS rate: 0.088009 deg/s,
      cmd update: 0.352035 deg/s,
      cmd heading: 117.326335 deg,
      new cmd heading: 115.958185 deg.

2021-08-14T20:21:34.747Z,1628972494.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:35.133Z,1628972495.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:35.133Z,1628972495.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:35.133Z,1628972495.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:35.134Z,1628972495.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:35.525Z,1628972495.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,0033C,187,80,80,85,FF
2021-08-14T20:21:35.525Z,1628972495.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:35.525Z,1628972495.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:35.527Z,1628972495.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:35.945Z,1628972495.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:36.345Z,1628972496.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F94,000,00316,186,80,80,C2,FF
2021-08-14T20:21:36.345Z,1628972496.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:36.397Z,1628972496.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:36.785Z,1628972496.785 [Micromodem](INFO): Nmea in: $SNTTA,0.021646,,,,202137.53*44

2021-08-14T20:21:36.841Z,1628972496.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 129.186253 deg, deltaT: 4.442857 s, approachRate: -0.513183 m/s, LOS rate: -1.191541 deg/s, posRepo size: 4
2021-08-14T20:21:36.843Z,1628972496.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 129.186253 deg,
      approachRate: -0.513183 m/s,
      LOS rate: -1.191541 deg/s,
      cmd update: -4.766165 deg/s,
      cmd heading: 118.890375 deg,
      new cmd heading: 119.038958 deg.

2021-08-14T20:21:39.226Z,1628972499.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:39.573Z,1628972499.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:39.573Z,1628972499.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:39.574Z,1628972499.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:39.575Z,1628972499.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:39.982Z,1628972499.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F94,000,00316,186,80,80,C2,FF
2021-08-14T20:21:39.982Z,1628972499.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:39.983Z,1628972499.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:39.986Z,1628972499.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:40.381Z,1628972500.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:40.789Z,1628972500.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,002F0,186,80,80,96,FF
2021-08-14T20:21:40.789Z,1628972500.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:40.852Z,1628972500.852 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:41.213Z,1628972501.213 [Micromodem](INFO): Nmea in: $SNTTA,0.025422,,,,202141.99*47

2021-08-14T20:21:41.268Z,1628972501.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 128.496977 deg, deltaT: 4.454777 s, approachRate: -0.511810 m/s, LOS rate: -0.154727 deg/s, posRepo size: 4
2021-08-14T20:21:41.270Z,1628972501.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 128.496977 deg,
      approachRate: -0.511810 m/s,
      LOS rate: -0.154727 deg/s,
      cmd update: -0.618909 deg/s,
      cmd heading: 97.696712 deg,
      new cmd heading: 95.659577 deg.

2021-08-14T20:21:43.650Z,1628972503.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:44.010Z,1628972504.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:44.010Z,1628972504.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:44.010Z,1628972504.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:44.011Z,1628972504.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:44.418Z,1628972504.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,002F0,186,80,80,96,FF
2021-08-14T20:21:44.418Z,1628972504.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:44.418Z,1628972504.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:44.421Z,1628972504.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:44.839Z,1628972504.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:45.221Z,1628972505.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,002EC,187,80,80,50,FF
2021-08-14T20:21:45.222Z,1628972505.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:45.282Z,1628972505.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:45.681Z,1628972505.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202146.43*5A

2021-08-14T20:21:45.711Z,1628972505.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 87.610399 deg, deltaT: 4.430093 s, approachRate: -0.054175 m/s, LOS rate: -9.229282 deg/s, posRepo size: 4
2021-08-14T20:21:45.713Z,1628972505.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 87.610399 deg,
      approachRate: -0.054175 m/s,
      LOS rate: -9.229282 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 94.949829 deg,
      new cmd heading: 94.682145 deg.

2021-08-14T20:21:48.077Z,1628972508.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:48.466Z,1628972508.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:48.466Z,1628972508.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:48.466Z,1628972508.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:48.467Z,1628972508.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:48.857Z,1628972508.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,002EC,187,80,80,50,FF
2021-08-14T20:21:48.858Z,1628972508.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:48.858Z,1628972508.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:48.859Z,1628972508.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:49.265Z,1628972509.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:49.669Z,1628972509.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,002C7,182,80,80,82,FF
2021-08-14T20:21:49.670Z,1628972509.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:49.755Z,1628972509.755 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:50.101Z,1628972510.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202150.87*55

2021-08-14T20:21:50.124Z,1628972510.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 86.606102 deg, deltaT: 4.477925 s, approachRate: -0.495765 m/s, LOS rate: -0.224277 deg/s, posRepo size: 4
2021-08-14T20:21:50.126Z,1628972510.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 86.606102 deg,
      approachRate: -0.495765 m/s,
      LOS rate: -0.224277 deg/s,
      cmd update: -0.897110 deg/s,
      cmd heading: 41.341940 deg,
      new cmd heading: 36.811136 deg.

2021-08-14T20:21:52.531Z,1628972512.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:52.919Z,1628972512.919 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:52.919Z,1628972512.919 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:52.922Z,1628972512.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:52.942Z,1628972512.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:53.309Z,1628972513.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,002C7,182,80,80,82,FF
2021-08-14T20:21:53.309Z,1628972513.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:53.309Z,1628972513.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:53.311Z,1628972513.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:53.717Z,1628972513.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:54.114Z,1628972514.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,002CE,189,80,80,68,FF
2021-08-14T20:21:54.114Z,1628972514.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:54.139Z,1628972514.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:54.557Z,1628972514.557 [Micromodem](INFO): Nmea in: $SNTTA,0.006628,,,,202155.32*4A

2021-08-14T20:21:54.647Z,1628972514.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 19.711846 deg, deltaT: 4.378920 s, approachRate: 0.095914 m/s, LOS rate: -15.276428 deg/s, posRepo size: 4
2021-08-14T20:21:54.652Z,1628972514.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.276428 deg/s. Setting heading cmd to target bearing of 19.711846deg and heading rate command to 0 deg/s.
2021-08-14T20:21:57.031Z,1628972517.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:21:57.341Z,1628972517.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:21:57.341Z,1628972517.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:21:57.341Z,1628972517.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:21:57.342Z,1628972517.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:21:57.745Z,1628972517.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D9,000,002CE,189,80,80,68,FF
2021-08-14T20:21:57.745Z,1628972517.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:21:57.745Z,1628972517.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:21:57.747Z,1628972517.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:21:58.162Z,1628972518.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:21:58.555Z,1628972518.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,002E6,187,80,80,93,FF
2021-08-14T20:21:58.556Z,1628972518.556 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:21:58.623Z,1628972518.623 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:21:59.017Z,1628972519.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202159.76*52

2021-08-14T20:21:59.089Z,1628972519.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 56.443450 deg, deltaT: 4.484099 s, approachRate: 0.321135 m/s, LOS rate: 8.191524 deg/s, posRepo size: 4
2021-08-14T20:21:59.091Z,1628972519.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 56.443450 deg,
      approachRate: 0.321135 m/s,
      LOS rate: 8.191524 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 19.711846 deg,
      new cmd heading: 19.711846 deg.

2021-08-14T20:22:01.429Z,1628972521.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:01.792Z,1628972521.792 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:01.792Z,1628972521.792 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:01.792Z,1628972521.792 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:01.793Z,1628972521.793 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:02.192Z,1628972522.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,002E6,187,80,80,93,FF
2021-08-14T20:22:02.192Z,1628972522.192 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:02.192Z,1628972522.192 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:02.194Z,1628972522.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:02.619Z,1628972522.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:03.049Z,1628972523.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00310,183,80,80,A2,FF
2021-08-14T20:22:03.049Z,1628972523.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:03.141Z,1628972523.141 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:03.449Z,1628972523.449 [Micromodem](INFO): Nmea in: $SNTTA,0.028240,,,,202204.20*48

2021-08-14T20:22:03.467Z,1628972523.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 33.964038 deg, deltaT: 4.518699 s, approachRate: 0.557683 m/s, LOS rate: -4.974753 deg/s, posRepo size: 4
2021-08-14T20:22:03.469Z,1628972523.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 33.964038 deg,
      approachRate: 0.557683 m/s,
      LOS rate: -4.974753 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 74.034107 deg,
      new cmd heading: 77.972027 deg.

2021-08-14T20:22:05.858Z,1628972525.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:06.241Z,1628972526.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:06.241Z,1628972526.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:06.242Z,1628972526.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:06.242Z,1628972526.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:06.656Z,1628972526.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00310,183,80,80,A2,FF
2021-08-14T20:22:06.656Z,1628972526.656 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:06.657Z,1628972526.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:06.658Z,1628972526.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:07.041Z,1628972527.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:07.454Z,1628972527.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,0032C,186,80,80,6B,FF
2021-08-14T20:22:07.454Z,1628972527.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:07.486Z,1628972527.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:07.872Z,1628972527.872 [Micromodem](INFO): Nmea in: $SNTTA,0.031041,,,,202208.67*4C

2021-08-14T20:22:07.899Z,1628972527.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 43.385174 deg, deltaT: 4.344874 s, approachRate: 0.386663 m/s, LOS rate: 2.168334 deg/s, posRepo size: 4
2021-08-14T20:22:07.902Z,1628972527.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 43.385174 deg,
      approachRate: 0.386663 m/s,
      LOS rate: 2.168334 deg/s,
      cmd update: 8.673335 deg/s,
      cmd heading: 21.944914 deg,
      new cmd heading: 16.905478 deg.

2021-08-14T20:22:10.304Z,1628972530.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:10.673Z,1628972530.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:10.673Z,1628972530.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:10.673Z,1628972530.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:10.674Z,1628972530.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:10.701Z,1628972530.701 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:22:11.077Z,1628972531.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,0032C,186,80,80,6B,FF
2021-08-14T20:22:11.077Z,1628972531.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:11.077Z,1628972531.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:11.079Z,1628972531.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:11.504Z,1628972531.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:11.885Z,1628972531.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00345,187,80,80,64,FF
2021-08-14T20:22:11.886Z,1628972531.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:11.941Z,1628972531.941 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:12.331Z,1628972532.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202213.09*57

2021-08-14T20:22:12.353Z,1628972532.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 53.604281 deg, deltaT: 4.454596 s, approachRate: 0.336730 m/s, LOS rate: 2.294059 deg/s, posRepo size: 4
2021-08-14T20:22:12.353Z,1628972532.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.72 m. Rolling out.
2021-08-14T20:22:12.354Z,1628972532.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T20:22:13.118Z,1628972533.118 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:22:14.770Z,1628972534.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:15.121Z,1628972535.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:15.121Z,1628972535.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:15.121Z,1628972535.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:15.122Z,1628972535.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:15.532Z,1628972535.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00345,187,80,80,64,FF
2021-08-14T20:22:15.532Z,1628972535.532 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:15.533Z,1628972535.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:15.534Z,1628972535.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:15.937Z,1628972535.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:16.328Z,1628972536.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00372,186,80,80,62,FF
2021-08-14T20:22:16.329Z,1628972536.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:16.350Z,1628972536.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:16.785Z,1628972536.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202217.54*5B

2021-08-14T20:22:16.812Z,1628972536.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 52.566154 deg, deltaT: 4.408839 s, approachRate: 0.612406 m/s, LOS rate: -0.235465 deg/s, posRepo size: 4
2021-08-14T20:22:18.365Z,1628972538.365 [PowerOnly](INFO): Powering down loadControl
2021-08-14T20:22:19.214Z,1628972539.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:19.564Z,1628972539.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:19.565Z,1628972539.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:19.566Z,1628972539.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:19.567Z,1628972539.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:19.973Z,1628972539.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00372,186,80,80,62,FF
2021-08-14T20:22:19.974Z,1628972539.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:19.974Z,1628972539.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:19.976Z,1628972539.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:20.373Z,1628972540.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:20.785Z,1628972540.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,0037E,187,80,80,4E,FF
2021-08-14T20:22:20.786Z,1628972540.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:20.853Z,1628972540.853 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:21.221Z,1628972541.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202221.98*5E

2021-08-14T20:22:21.257Z,1628972541.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 83.669339 deg, deltaT: 4.502741 s, approachRate: 0.159902 m/s, LOS rate: 6.907611 deg/s, posRepo size: 4
2021-08-14T20:22:23.222Z,1628972543.222 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:22:23.654Z,1628972543.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:24.005Z,1628972544.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:24.005Z,1628972544.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:24.005Z,1628972544.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:24.006Z,1628972544.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:24.418Z,1628972544.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,0037E,187,80,80,4E,FF
2021-08-14T20:22:24.419Z,1628972544.419 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:24.419Z,1628972544.419 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:24.422Z,1628972544.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:24.834Z,1628972544.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:25.225Z,1628972545.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00397,18A,80,80,22,FF
2021-08-14T20:22:25.226Z,1628972545.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:25.294Z,1628972545.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:25.678Z,1628972545.678 [Micromodem](INFO): Nmea in: $SNTTA,0.074306,,,,202226.43*47

2021-08-14T20:22:25.712Z,1628972545.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 31.709078 deg, deltaT: 4.441877 s, approachRate: 0.337695 m/s, LOS rate: -11.697817 deg/s, posRepo size: 4
2021-08-14T20:22:28.100Z,1628972548.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:28.450Z,1628972548.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:28.450Z,1628972548.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:28.450Z,1628972548.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:28.451Z,1628972548.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:28.865Z,1628972548.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00397,18A,80,80,22,FF
2021-08-14T20:22:28.865Z,1628972548.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:28.866Z,1628972548.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:28.867Z,1628972548.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:29.269Z,1628972549.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:29.669Z,1628972549.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,003B4,187,80,80,42,FF
2021-08-14T20:22:29.670Z,1628972549.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:29.737Z,1628972549.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:30.098Z,1628972550.098 [Micromodem](INFO): Nmea in: $SNTTA,0.054006,,,,202230.88*46

2021-08-14T20:22:30.114Z,1628972550.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 61.536726 deg, deltaT: 4.442195 s, approachRate: 0.391698 m/s, LOS rate: 6.714619 deg/s, posRepo size: 4
2021-08-14T20:22:31.312Z,1628972551.312 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T20:22:32.515Z,1628972552.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:32.905Z,1628972552.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:32.905Z,1628972552.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:32.905Z,1628972552.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:32.906Z,1628972552.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:33.305Z,1628972553.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,003B4,187,80,80,42,FF
2021-08-14T20:22:33.305Z,1628972553.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:33.305Z,1628972553.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:33.307Z,1628972553.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:33.349Z,1628972553.349 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:22:33.726Z,1628972553.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:34.109Z,1628972554.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11A,000,003E1,186,80,80,6D,FF
2021-08-14T20:22:34.110Z,1628972554.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:34.159Z,1628972554.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:34.561Z,1628972554.561 [Micromodem](INFO): Nmea in: $SNTTA,0.030306,,,,202235.32*43

2021-08-14T20:22:34.626Z,1628972554.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 53.434411 deg, deltaT: 4.422491 s, approachRate: 0.610516 m/s, LOS rate: -1.832071 deg/s, posRepo size: 4
2021-08-14T20:22:37.019Z,1628972557.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:37.350Z,1628972557.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:37.350Z,1628972557.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:37.350Z,1628972557.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:37.351Z,1628972557.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:37.743Z,1628972557.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11A,000,003E1,186,80,80,6D,FF
2021-08-14T20:22:37.743Z,1628972557.743 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:37.745Z,1628972557.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:37.750Z,1628972557.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:38.161Z,1628972558.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:38.569Z,1628972558.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,003F4,186,80,80,5E,FF
2021-08-14T20:22:38.570Z,1628972558.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:38.656Z,1628972558.656 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:39.021Z,1628972559.021 [Micromodem](INFO): Nmea in: $SNTTA,0.033262,,,,202239.76*4F

2021-08-14T20:22:39.090Z,1628972559.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 51.308893 deg, deltaT: 4.497047 s, approachRate: 0.253500 m/s, LOS rate: -0.472647 deg/s, posRepo size: 4
2021-08-14T20:22:41.432Z,1628972561.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:41.795Z,1628972561.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:41.795Z,1628972561.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:41.795Z,1628972561.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:41.797Z,1628972561.797 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:42.194Z,1628972562.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,003F4,186,80,80,5E,FF
2021-08-14T20:22:42.194Z,1628972562.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:42.194Z,1628972562.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:42.196Z,1628972562.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:42.622Z,1628972562.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:43.053Z,1628972563.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00413,186,80,80,54,FF
2021-08-14T20:22:43.053Z,1628972563.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:43.062Z,1628972563.062 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:22:43.078Z,1628972563.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:43.435Z,1628972563.435 [Micromodem](INFO): Nmea in: $SNTTA,0.029644,,,,202244.21*4C

2021-08-14T20:22:43.489Z,1628972563.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 48.525058 deg, deltaT: 4.422074 s, approachRate: 0.420617 m/s, LOS rate: -0.629531 deg/s, posRepo size: 4
2021-08-14T20:22:45.849Z,1628972565.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:46.229Z,1628972566.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:46.229Z,1628972566.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:46.230Z,1628972566.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:46.231Z,1628972566.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:46.657Z,1628972566.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00413,186,80,80,54,FF
2021-08-14T20:22:46.657Z,1628972566.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:46.657Z,1628972566.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:46.659Z,1628972566.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:47.065Z,1628972567.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:47.457Z,1628972567.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00434,187,80,80,55,FF
2021-08-14T20:22:47.457Z,1628972567.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:47.477Z,1628972567.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:47.886Z,1628972567.886 [Micromodem](INFO): Nmea in: $SNTTA,0.184370,,,,202248.67*46

2021-08-14T20:22:47.912Z,1628972567.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 91.002947 deg, deltaT: 4.398828 s, approachRate: 0.450120 m/s, LOS rate: 9.656638 deg/s, posRepo size: 4
2021-08-14T20:22:50.314Z,1628972570.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:50.697Z,1628972570.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:50.697Z,1628972570.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:50.697Z,1628972570.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:50.698Z,1628972570.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:51.085Z,1628972571.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00434,187,80,80,55,FF
2021-08-14T20:22:51.085Z,1628972571.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:51.085Z,1628972571.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:51.087Z,1628972571.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:51.496Z,1628972571.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:51.897Z,1628972571.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,0044D,185,80,80,6B,FF
2021-08-14T20:22:51.897Z,1628972571.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:51.958Z,1628972571.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:52.333Z,1628972572.333 [Micromodem](INFO): Nmea in: $SNTTA,0.042247,,,,202253.10*42

2021-08-14T20:22:52.393Z,1628972572.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 87.866477 deg, deltaT: 4.480868 s, approachRate: 0.334756 m/s, LOS rate: -0.699969 deg/s, posRepo size: 4
2021-08-14T20:22:53.130Z,1628972573.130 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T20:22:54.750Z,1628972574.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:55.130Z,1628972575.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:55.130Z,1628972575.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:55.130Z,1628972575.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:55.131Z,1628972575.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:55.525Z,1628972575.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,0044D,185,80,80,6B,FF
2021-08-14T20:22:55.525Z,1628972575.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:55.526Z,1628972575.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:55.527Z,1628972575.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:22:55.933Z,1628972575.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:22:56.337Z,1628972576.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,0046B,186,80,80,4F,FF
2021-08-14T20:22:56.338Z,1628972576.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:22:56.433Z,1628972576.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:22:56.782Z,1628972576.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202257.54*5F

2021-08-14T20:22:56.808Z,1628972576.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 85.625096 deg, deltaT: 4.475574 s, approachRate: 0.402183 m/s, LOS rate: -0.500803 deg/s, posRepo size: 4
2021-08-14T20:22:59.211Z,1628972579.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:22:59.577Z,1628972579.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:22:59.577Z,1628972579.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:22:59.578Z,1628972579.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:22:59.579Z,1628972579.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:22:59.970Z,1628972579.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,0046B,186,80,80,4F,FF
2021-08-14T20:22:59.970Z,1628972579.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:22:59.970Z,1628972579.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:22:59.972Z,1628972579.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:00.381Z,1628972580.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:00.781Z,1628972580.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00497,186,80,80,6B,FF
2021-08-14T20:23:00.781Z,1628972580.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:00.849Z,1628972580.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:23:01.206Z,1628972581.206 [Micromodem](INFO): Nmea in: $SNTTA,0.046862,0.433466,,,202301.98*53

2021-08-14T20:23:01.253Z,1628972581.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 81.300227 deg, deltaT: 4.415242 s, approachRate: 0.597928 m/s, LOS rate: -0.979532 deg/s, posRepo size: 4
2021-08-14T20:23:03.662Z,1628972583.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:04.013Z,1628972584.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:04.013Z,1628972584.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:04.013Z,1628972584.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:04.014Z,1628972584.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:04.425Z,1628972584.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00497,186,80,80,6B,FF
2021-08-14T20:23:04.425Z,1628972584.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:04.426Z,1628972584.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:04.429Z,1628972584.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:04.825Z,1628972584.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:05.233Z,1628972585.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,004B1,186,80,80,55,FF
2021-08-14T20:23:05.234Z,1628972585.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:05.306Z,1628972585.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:23:05.671Z,1628972585.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202306.44*5B

2021-08-14T20:23:05.733Z,1628972585.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 82.730127 deg, deltaT: 4.457557 s, approachRate: 0.349968 m/s, LOS rate: 0.320781 deg/s, posRepo size: 4
2021-08-14T20:23:08.117Z,1628972588.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:08.466Z,1628972588.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:08.467Z,1628972588.467 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:08.467Z,1628972588.467 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:08.468Z,1628972588.468 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:08.861Z,1628972588.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,004B1,186,80,80,55,FF
2021-08-14T20:23:08.861Z,1628972588.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:08.861Z,1628972588.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:08.863Z,1628972588.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:09.277Z,1628972589.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:09.669Z,1628972589.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,004D7,187,80,80,97,FF
2021-08-14T20:23:09.669Z,1628972589.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:09.747Z,1628972589.747 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:23:10.121Z,1628972590.121 [Micromodem](INFO): Nmea in: $SNTTA,0.147301,,,,202310.88*42

2021-08-14T20:23:10.144Z,1628972590.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 76.153167 deg, deltaT: 4.440538 s, approachRate: 0.513452 m/s, LOS rate: -1.481118 deg/s, posRepo size: 4
2021-08-14T20:23:12.524Z,1628972592.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:12.920Z,1628972592.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:12.920Z,1628972592.920 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:12.920Z,1628972592.920 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:12.921Z,1628972592.921 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:13.313Z,1628972593.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,004D7,187,80,80,97,FF
2021-08-14T20:23:13.313Z,1628972593.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:13.313Z,1628972593.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:13.315Z,1628972593.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:13.818Z,1628972593.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:14.217Z,1628972594.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,004FB,186,80,80,51,FF
2021-08-14T20:23:14.217Z,1628972594.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:14.261Z,1628972594.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:23:14.646Z,1628972594.646 [Micromodem](INFO): Nmea in: $SNTTA,0.040959,,,,202315.33*46

2021-08-14T20:23:14.676Z,1628972594.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 79.554191 deg, deltaT: 4.513842 s, approachRate: 0.478527 m/s, LOS rate: 0.753466 deg/s, posRepo size: 4
2021-08-14T20:23:17.113Z,1628972597.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:17.438Z,1628972597.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:17.438Z,1628972597.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:17.438Z,1628972597.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:17.439Z,1628972597.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:17.841Z,1628972597.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,004FB,186,80,80,51,FF
2021-08-14T20:23:17.841Z,1628972597.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:17.842Z,1628972597.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:17.843Z,1628972597.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:18.245Z,1628972598.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:18.653Z,1628972598.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0051D,186,80,80,47,FF
2021-08-14T20:23:18.654Z,1628972598.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:18.729Z,1628972598.729 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:23:19.089Z,1628972599.089 [Micromodem](INFO): Nmea in: $SNTTA,0.051483,,,,202319.85*4D

2021-08-14T20:23:19.137Z,1628972599.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 73.638476 deg, deltaT: 4.468817 s, approachRate: 0.456497 m/s, LOS rate: -1.323777 deg/s, posRepo size: 4
2021-08-14T20:23:19.497Z,1628972599.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:23:19.498Z,1628972599.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:23:19.498Z,1628972599.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:23:19.498Z,1628972599.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:23:19.499Z,1628972599.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:23:19.499Z,1628972599.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:23:19.907Z,1628972599.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:23:19.907Z,1628972599.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:23:19.908Z,1628972599.908 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:23:19.908Z,1628972599.908 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:23:21.521Z,1628972601.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:21.881Z,1628972601.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:21.881Z,1628972601.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:21.881Z,1628972601.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:21.882Z,1628972601.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:22.294Z,1628972602.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0051D,186,80,80,47,FF
2021-08-14T20:23:22.294Z,1628972602.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:22.294Z,1628972602.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:22.296Z,1628972602.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:22.701Z,1628972602.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:23.093Z,1628972603.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,0053C,184,80,80,82,FF
2021-08-14T20:23:23.094Z,1628972603.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:23.097Z,1628972603.097 [Micromodem](INFO): Nmea in: $SNTTA,0.053848,0.231658,,,202324.31*50

2021-08-14T20:23:23.113Z,1628972603.113 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T20:23:23.532Z,1628972603.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.899998 m, bearing: 69.052762 deg, deltaT: 4.437200 s, approachRate: 0.419183 m/s, LOS rate: -1.033470 deg/s, posRepo size: 4
2021-08-14T20:23:25.976Z,1628972605.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:26.325Z,1628972606.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:26.325Z,1628972606.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:26.326Z,1628972606.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:26.327Z,1628972606.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:26.738Z,1628972606.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,0053C,184,80,80,82,FF
2021-08-14T20:23:26.738Z,1628972606.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:26.738Z,1628972606.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:26.740Z,1628972606.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:27.145Z,1628972607.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:27.546Z,1628972607.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00561,187,80,80,6E,FF
2021-08-14T20:23:27.547Z,1628972607.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:27.973Z,1628972607.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202328.75*55

2021-08-14T20:23:28.049Z,1628972608.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 70.050864 deg, deltaT: 4.445440 s, approachRate: 0.499388 m/s, LOS rate: 0.224523 deg/s, posRepo size: 4
2021-08-14T20:23:30.411Z,1628972610.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:30.773Z,1628972610.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:30.773Z,1628972610.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:30.773Z,1628972610.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:30.774Z,1628972610.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:31.173Z,1628972611.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00561,187,80,80,6E,FF
2021-08-14T20:23:31.173Z,1628972611.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:31.173Z,1628972611.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:31.175Z,1628972611.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:31.610Z,1628972611.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:31.981Z,1628972611.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,0057F,184,80,80,7C,FF
2021-08-14T20:23:31.981Z,1628972611.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:32.435Z,1628972612.435 [Micromodem](INFO): Nmea in: $SNTTA,0.274145,,,,202333.18*4B

2021-08-14T20:23:32.462Z,1628972612.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 69.175719 deg, deltaT: 4.388989 s, approachRate: 0.410116 m/s, LOS rate: -0.199396 deg/s, posRepo size: 4
2021-08-14T20:23:34.853Z,1628972614.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:35.213Z,1628972615.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:35.213Z,1628972615.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:35.213Z,1628972615.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:35.214Z,1628972615.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:35.637Z,1628972615.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,0057F,184,80,80,7C,FF
2021-08-14T20:23:35.637Z,1628972615.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:35.637Z,1628972615.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:35.639Z,1628972615.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:36.033Z,1628972616.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:36.862Z,1628972616.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202337.65*5A

2021-08-14T20:23:37.678Z,1628972617.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:39.257Z,1628972619.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,7C,FF
2021-08-14T20:23:39.258Z,1628972619.258 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,7C,FF
2021-08-14T20:23:39.258Z,1628972619.258 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:23:40.514Z,1628972620.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:40.881Z,1628972620.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:40.881Z,1628972620.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:40.881Z,1628972620.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:40.882Z,1628972620.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:41.281Z,1628972621.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,7C,FF
2021-08-14T20:23:41.281Z,1628972621.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:41.281Z,1628972621.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:41.283Z,1628972621.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:41.680Z,1628972621.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:42.087Z,1628972622.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,005D5,183,80,80,57,FF
2021-08-14T20:23:42.088Z,1628972622.088 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:42.525Z,1628972622.525 [Micromodem](INFO): Nmea in: $SNTTA,0.047007,,,,202343.29*4B

2021-08-14T20:23:42.565Z,1628972622.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 64.662808 deg, deltaT: 10.106654 s, approachRate: 0.510555 m/s, LOS rate: -0.446529 deg/s, posRepo size: 4
2021-08-14T20:23:43.335Z,1628972623.335 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-14T20:23:45.007Z,1628972625.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:45.325Z,1628972625.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:45.325Z,1628972625.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:45.326Z,1628972625.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:45.326Z,1628972625.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:45.746Z,1628972625.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,005D5,183,80,80,57,FF
2021-08-14T20:23:45.746Z,1628972625.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:45.746Z,1628972625.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:45.759Z,1628972625.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:46.128Z,1628972626.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:46.530Z,1628972626.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,005F3,182,80,80,63,FF
2021-08-14T20:23:46.530Z,1628972626.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:46.961Z,1628972626.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202347.77*5E

2021-08-14T20:23:47.047Z,1628972627.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 65.221360 deg, deltaT: 4.442072 s, approachRate: 0.405218 m/s, LOS rate: 0.125741 deg/s, posRepo size: 4
2021-08-14T20:23:49.407Z,1628972629.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:49.769Z,1628972629.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:49.769Z,1628972629.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:49.769Z,1628972629.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:49.770Z,1628972629.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:50.174Z,1628972630.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,005F3,182,80,80,63,FF
2021-08-14T20:23:50.174Z,1628972630.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:50.175Z,1628972630.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:50.177Z,1628972630.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:50.607Z,1628972630.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:51.034Z,1628972631.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,0061A,185,80,80,94,FF
2021-08-14T20:23:51.035Z,1628972631.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:51.409Z,1628972631.409 [Micromodem](INFO): Nmea in: $SNTTA,0.054980,,,,202352.19*4C

2021-08-14T20:23:51.469Z,1628972631.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.219994 m, bearing: 66.730634 deg, deltaT: 4.558539 s, approachRate: 0.513321 m/s, LOS rate: 0.331087 deg/s, posRepo size: 4
2021-08-14T20:23:53.854Z,1628972633.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:54.205Z,1628972634.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:54.205Z,1628972634.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:54.205Z,1628972634.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:54.206Z,1628972634.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:54.637Z,1628972634.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,0061A,185,80,80,94,FF
2021-08-14T20:23:54.637Z,1628972634.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:54.637Z,1628972634.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:54.639Z,1628972634.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:55.040Z,1628972635.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:23:55.425Z,1628972635.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00641,183,80,80,87,FF
2021-08-14T20:23:55.425Z,1628972635.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:23:55.843Z,1628972635.843 [Micromodem](INFO): Nmea in: $SNTTA,0.060845,,,,202356.65*4C

2021-08-14T20:23:55.920Z,1628972635.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.559998 m, bearing: 63.232286 deg, deltaT: 4.347578 s, approachRate: 0.538232 m/s, LOS rate: -0.804666 deg/s, posRepo size: 4
2021-08-14T20:23:58.274Z,1628972638.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:23:58.649Z,1628972638.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:23:58.649Z,1628972638.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:23:58.649Z,1628972638.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:23:58.650Z,1628972638.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:23:59.057Z,1628972639.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00641,183,80,80,87,FF
2021-08-14T20:23:59.058Z,1628972639.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:23:59.058Z,1628972639.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:23:59.060Z,1628972639.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:23:59.469Z,1628972639.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:00.286Z,1628972640.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202401.07*5C

2021-08-14T20:24:01.131Z,1628972641.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:02.693Z,1628972642.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,183,80,80,87,FF
2021-08-14T20:24:02.693Z,1628972642.693 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,183,80,80,87,FF
2021-08-14T20:24:02.693Z,1628972642.693 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:24:03.952Z,1628972643.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:04.309Z,1628972644.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:04.309Z,1628972644.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:04.309Z,1628972644.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:04.310Z,1628972644.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:04.715Z,1628972644.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,183,80,80,87,FF
2021-08-14T20:24:04.715Z,1628972644.715 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:04.715Z,1628972644.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:04.717Z,1628972644.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:05.113Z,1628972645.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:06.774Z,1628972646.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:07.941Z,1628972647.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,07E12,184,80,80,96,FF
2021-08-14T20:24:07.942Z,1628972647.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:07.968Z,1628972647.968 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:24:08.392Z,1628972648.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1898.939941 m, bearing: 67.392807 deg, deltaT: 12.540002 s, approachRate: 146.760727 m/s, LOS rate: 0.331780 deg/s, posRepo size: 4
2021-08-14T20:24:10.806Z,1628972650.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:11.173Z,1628972651.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:11.173Z,1628972651.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:11.173Z,1628972651.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:11.174Z,1628972651.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:11.585Z,1628972651.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,07E12,184,80,80,96,FF
2021-08-14T20:24:11.585Z,1628972651.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:11.586Z,1628972651.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:11.592Z,1628972651.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:11.996Z,1628972651.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:12.389Z,1628972652.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,006C9,184,80,80,8E,FF
2021-08-14T20:24:12.389Z,1628972652.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:12.825Z,1628972652.825 [Micromodem](INFO): Nmea in: $SNTTA,0.054246,,,,202413.61*40

2021-08-14T20:24:12.880Z,1628972652.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 64.873348 deg, deltaT: 4.413502 s, approachRate: -415.139709 m/s, LOS rate: -0.570853 deg/s, posRepo size: 4
2021-08-14T20:24:15.277Z,1628972655.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:15.645Z,1628972655.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:15.645Z,1628972655.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:15.645Z,1628972655.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:15.646Z,1628972655.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:16.037Z,1628972656.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,006C9,184,80,80,8E,FF
2021-08-14T20:24:16.037Z,1628972656.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:16.037Z,1628972656.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:16.039Z,1628972656.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:16.438Z,1628972656.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:16.842Z,1628972656.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,0074D,183,80,80,2D,FF
2021-08-14T20:24:16.842Z,1628972656.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:17.250Z,1628972657.250 [Micromodem](INFO): Nmea in: $SNTTA,0.077384,0.398969,,,202418.05*5D

2021-08-14T20:24:17.297Z,1628972657.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 65.039466 deg, deltaT: 4.462921 s, approachRate: 1.774620 m/s, LOS rate: 0.037222 deg/s, posRepo size: 4
2021-08-14T20:24:19.708Z,1628972659.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:20.073Z,1628972660.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:20.073Z,1628972660.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:20.073Z,1628972660.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:20.074Z,1628972660.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:20.477Z,1628972660.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,0074D,183,80,80,2D,FF
2021-08-14T20:24:20.477Z,1628972660.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:20.477Z,1628972660.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:20.479Z,1628972660.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:20.877Z,1628972660.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:21.273Z,1628972661.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00717,187,80,80,65,FF
2021-08-14T20:24:21.274Z,1628972661.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:21.717Z,1628972661.717 [Micromodem](INFO): Nmea in: $SNTTA,0.179708,,,,202422.49*49

2021-08-14T20:24:21.743Z,1628972661.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 69.915667 deg, deltaT: 4.479516 s, approachRate: -0.723292 m/s, LOS rate: 1.088556 deg/s, posRepo size: 4
2021-08-14T20:24:24.135Z,1628972664.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:24.509Z,1628972664.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:24.509Z,1628972664.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:24.509Z,1628972664.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:24.510Z,1628972664.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:24.923Z,1628972664.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00717,187,80,80,65,FF
2021-08-14T20:24:24.923Z,1628972664.923 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:24.924Z,1628972664.924 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:24.927Z,1628972664.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:25.320Z,1628972665.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:26.142Z,1628972666.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202426.94*53

2021-08-14T20:24:27.035Z,1628972667.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:28.550Z,1628972668.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,65,FF
2021-08-14T20:24:28.551Z,1628972668.551 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,65,FF
2021-08-14T20:24:28.551Z,1628972668.551 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:24:29.808Z,1628972669.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:30.169Z,1628972670.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:30.169Z,1628972670.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:30.169Z,1628972670.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:30.170Z,1628972670.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:30.573Z,1628972670.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,65,FF
2021-08-14T20:24:30.573Z,1628972670.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:30.574Z,1628972670.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:30.581Z,1628972670.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:31.088Z,1628972671.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:32.642Z,1628972672.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:34.225Z,1628972674.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,65,FF
2021-08-14T20:24:34.225Z,1628972674.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,65,FF
2021-08-14T20:24:34.225Z,1628972674.225 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:24:35.457Z,1628972675.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:35.829Z,1628972675.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:35.829Z,1628972675.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:35.829Z,1628972675.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:35.830Z,1628972675.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:36.225Z,1628972676.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,65,FF
2021-08-14T20:24:36.225Z,1628972676.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:36.226Z,1628972676.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:36.227Z,1628972676.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:36.648Z,1628972676.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:37.043Z,1628972677.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0079D,184,80,80,63,FF
2021-08-14T20:24:37.045Z,1628972677.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:37.078Z,1628972677.078 [Micromodem](INFO): Nmea in: $SNTTA,0.304560,0.304435,,,202438.24*56

2021-08-14T20:24:37.481Z,1628972677.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.440002 m, bearing: 67.795290 deg, deltaT: 15.793194 s, approachRate: 0.509080 m/s, LOS rate: -0.134259 deg/s, posRepo size: 4
2021-08-14T20:24:39.911Z,1628972679.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:40.265Z,1628972680.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:40.265Z,1628972680.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:40.265Z,1628972680.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:40.266Z,1628972680.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:40.691Z,1628972680.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0079D,184,80,80,63,FF
2021-08-14T20:24:40.691Z,1628972680.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:40.692Z,1628972680.692 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:40.697Z,1628972680.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:41.085Z,1628972681.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:41.486Z,1628972681.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,007C5,187,80,80,26,FF
2021-08-14T20:24:41.486Z,1628972681.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:41.897Z,1628972681.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202442.71*5A

2021-08-14T20:24:41.932Z,1628972681.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.839996 m, bearing: 77.211143 deg, deltaT: 4.390594 s, approachRate: 0.546622 m/s, LOS rate: 2.144551 deg/s, posRepo size: 4
2021-08-14T20:24:44.323Z,1628972684.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:44.718Z,1628972684.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:44.718Z,1628972684.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:44.718Z,1628972684.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:44.718Z,1628972684.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:45.117Z,1628972685.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,007C5,187,80,80,26,FF
2021-08-14T20:24:45.117Z,1628972685.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:45.117Z,1628972685.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:45.119Z,1628972685.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:45.221Z,1628972685.221 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T20:24:45.534Z,1628972685.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:45.921Z,1628972685.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,007E3,184,80,80,72,FF
2021-08-14T20:24:45.921Z,1628972685.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:46.374Z,1628972686.374 [Micromodem](INFO): Nmea in: $SNTTA,0.057562,,,,202447.13*46

2021-08-14T20:24:46.426Z,1628972686.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.640007 m, bearing: 67.313686 deg, deltaT: 4.470315 s, approachRate: 0.402659 m/s, LOS rate: -2.214040 deg/s, posRepo size: 4
2021-08-14T20:24:48.822Z,1628972688.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:49.161Z,1628972689.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:49.161Z,1628972689.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:49.161Z,1628972689.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:49.162Z,1628972689.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:49.565Z,1628972689.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,007E3,184,80,80,72,FF
2021-08-14T20:24:49.565Z,1628972689.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:49.566Z,1628972689.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:49.572Z,1628972689.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:49.973Z,1628972689.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:50.377Z,1628972690.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,0080D,185,80,80,8F,FF
2021-08-14T20:24:50.378Z,1628972690.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:50.806Z,1628972690.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202451.59*52

2021-08-14T20:24:50.836Z,1628972690.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 67.380649 deg, deltaT: 4.458512 s, approachRate: 0.565209 m/s, LOS rate: 0.015019 deg/s, posRepo size: 4
2021-08-14T20:24:53.283Z,1628972693.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:53.649Z,1628972693.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:53.649Z,1628972693.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:53.649Z,1628972693.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:53.650Z,1628972693.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:54.029Z,1628972694.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,0080D,185,80,80,8F,FF
2021-08-14T20:24:54.029Z,1628972694.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:54.029Z,1628972694.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:54.031Z,1628972694.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:54.443Z,1628972694.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:54.841Z,1628972694.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00833,187,80,80,92,FF
2021-08-14T20:24:54.842Z,1628972694.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:55.243Z,1628972695.243 [Micromodem](INFO): Nmea in: $SNTTA,0.080698,0.403503,,,202456.04*53

2021-08-14T20:24:55.279Z,1628972695.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 71.242158 deg, deltaT: 4.435190 s, approachRate: 0.514070 m/s, LOS rate: 0.870652 deg/s, posRepo size: 4
2021-08-14T20:24:57.685Z,1628972697.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:24:58.081Z,1628972698.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:24:58.081Z,1628972698.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:24:58.081Z,1628972698.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:24:58.082Z,1628972698.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:24:58.477Z,1628972698.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00833,187,80,80,92,FF
2021-08-14T20:24:58.477Z,1628972698.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:24:58.477Z,1628972698.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:24:58.479Z,1628972698.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:24:58.873Z,1628972698.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:24:59.273Z,1628972699.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,0085A,183,80,80,8F,FF
2021-08-14T20:24:59.274Z,1628972699.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:24:59.277Z,1628972699.277 [Micromodem](INFO): Nmea in: $SNTTA,0.180133,0.179883,,,202500.49*52

2021-08-14T20:24:59.719Z,1628972699.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.779999 m, bearing: 66.083808 deg, deltaT: 4.457742 s, approachRate: 0.524930 m/s, LOS rate: -1.157167 deg/s, posRepo size: 4
2021-08-14T20:25:02.119Z,1628972702.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:02.505Z,1628972702.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:02.505Z,1628972702.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:02.505Z,1628972702.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:02.506Z,1628972702.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:02.912Z,1628972702.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,0085A,183,80,80,8F,FF
2021-08-14T20:25:02.913Z,1628972702.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:02.913Z,1628972702.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:02.915Z,1628972702.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:03.393Z,1628972703.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:04.205Z,1628972704.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202504.93*55

2021-08-14T20:25:04.648Z,1628972704.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:06.235Z,1628972706.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,8F,FF
2021-08-14T20:25:06.239Z,1628972706.239 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,8F,FF
2021-08-14T20:25:06.239Z,1628972706.239 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:25:07.462Z,1628972707.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:07.837Z,1628972707.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:07.837Z,1628972707.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:07.837Z,1628972707.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:07.838Z,1628972707.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:08.241Z,1628972708.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,8F,FF
2021-08-14T20:25:08.241Z,1628972708.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:08.241Z,1628972708.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:08.243Z,1628972708.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:08.653Z,1628972708.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:09.474Z,1628972709.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202510.26*5E

2021-08-14T20:25:10.271Z,1628972710.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:11.869Z,1628972711.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,8F,FF
2021-08-14T20:25:11.869Z,1628972711.869 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,8F,FF
2021-08-14T20:25:11.869Z,1628972711.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:25:11.876Z,1628972711.876 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:25:13.142Z,1628972713.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:13.489Z,1628972713.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:13.489Z,1628972713.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:13.489Z,1628972713.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:13.490Z,1628972713.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:13.897Z,1628972713.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,8F,FF
2021-08-14T20:25:13.897Z,1628972713.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:13.898Z,1628972713.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:13.899Z,1628972713.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:14.296Z,1628972714.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:14.705Z,1628972714.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,0098A,183,80,80,7D,FF
2021-08-14T20:25:14.706Z,1628972714.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:15.122Z,1628972715.122 [Micromodem](INFO): Nmea in: $SNTTA,0.467733,0.427309,,,202515.92*5D

2021-08-14T20:25:15.191Z,1628972715.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.020004 m, bearing: 65.287975 deg, deltaT: 15.379379 s, approachRate: 1.186004 m/s, LOS rate: -0.051747 deg/s, posRepo size: 4
2021-08-14T20:25:17.547Z,1628972717.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:17.933Z,1628972717.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:17.933Z,1628972717.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:17.934Z,1628972717.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:17.935Z,1628972717.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:18.333Z,1628972718.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,0098A,183,80,80,7D,FF
2021-08-14T20:25:18.333Z,1628972718.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:18.333Z,1628972718.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:18.335Z,1628972718.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:18.741Z,1628972718.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:19.154Z,1628972719.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00BAD,183,80,80,A1,FF
2021-08-14T20:25:19.154Z,1628972719.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:19.599Z,1628972719.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202520.35*5F

2021-08-14T20:25:19.644Z,1628972719.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 63.189843 deg, deltaT: 4.482283 s, approachRate: 7.322163 m/s, LOS rate: -0.468094 deg/s, posRepo size: 4
2021-08-14T20:25:21.987Z,1628972721.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:22.377Z,1628972722.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:22.378Z,1628972722.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:22.378Z,1628972722.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:22.379Z,1628972722.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:22.792Z,1628972722.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00BAD,183,80,80,A1,FF
2021-08-14T20:25:22.793Z,1628972722.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:22.793Z,1628972722.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:22.794Z,1628972722.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:23.193Z,1628972723.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:24.010Z,1628972724.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202524.81*54

2021-08-14T20:25:24.826Z,1628972724.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:26.413Z,1628972726.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,183,80,80,A1,FF
2021-08-14T20:25:26.414Z,1628972726.414 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,183,80,80,A1,FF
2021-08-14T20:25:26.414Z,1628972726.414 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:25:27.674Z,1628972727.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:28.098Z,1628972728.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:28.103Z,1628972728.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:28.103Z,1628972728.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:28.130Z,1628972728.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:28.446Z,1628972728.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,183,80,80,A1,FF
2021-08-14T20:25:28.446Z,1628972728.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:28.446Z,1628972728.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:28.449Z,1628972728.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:28.837Z,1628972728.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:29.243Z,1628972729.243 [Micromodem](INFO): Nmea in: $SNTTA,0.153924,0.153718,,,202530.46*5B

2021-08-14T20:25:30.475Z,1628972730.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:32.073Z,1628972732.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,183,80,80,A1,FF
2021-08-14T20:25:32.073Z,1628972732.073 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,183,80,80,A1,FF
2021-08-14T20:25:32.074Z,1628972732.074 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:25:33.340Z,1628972733.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:33.689Z,1628972733.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:33.689Z,1628972733.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:33.689Z,1628972733.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:33.690Z,1628972733.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:34.089Z,1628972734.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,183,80,80,A1,FF
2021-08-14T20:25:34.090Z,1628972734.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:34.090Z,1628972734.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:34.091Z,1628972734.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:34.500Z,1628972734.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:34.901Z,1628972734.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00984,184,80,80,88,FF
2021-08-14T20:25:34.901Z,1628972734.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:35.320Z,1628972735.320 [Micromodem](INFO): Nmea in: $SNTTA,0.332659,0.331678,,,202536.11*5E

2021-08-14T20:25:35.374Z,1628972735.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.659996 m, bearing: 63.260222 deg, deltaT: 15.792892 s, approachRate: -2.100946 m/s, LOS rate: 0.004456 deg/s, posRepo size: 4
2021-08-14T20:25:37.754Z,1628972737.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:38.161Z,1628972738.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:38.161Z,1628972738.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:38.161Z,1628972738.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:38.162Z,1628972738.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:38.537Z,1628972738.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00984,184,80,80,88,FF
2021-08-14T20:25:38.537Z,1628972738.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:38.537Z,1628972738.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:38.539Z,1628972738.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:38.975Z,1628972738.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:39.354Z,1628972739.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,009AD,183,80,80,89,FF
2021-08-14T20:25:39.354Z,1628972739.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:39.797Z,1628972739.797 [Micromodem](INFO): Nmea in: $SNTTA,0.078774,,,,202540.55*4A

2021-08-14T20:25:39.846Z,1628972739.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.119995 m, bearing: 63.651899 deg, deltaT: 4.374984 s, approachRate: 0.562288 m/s, LOS rate: 0.089527 deg/s, posRepo size: 4
2021-08-14T20:25:42.230Z,1628972742.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:42.595Z,1628972742.595 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:42.600Z,1628972742.600 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:42.601Z,1628972742.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:42.603Z,1628972742.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:43.017Z,1628972743.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,009AD,183,80,80,89,FF
2021-08-14T20:25:43.017Z,1628972743.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:43.018Z,1628972743.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:43.019Z,1628972743.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:43.418Z,1628972743.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:43.797Z,1628972743.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,009D1,183,80,80,A0,FF
2021-08-14T20:25:43.798Z,1628972743.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:44.226Z,1628972744.226 [Micromodem](INFO): Nmea in: $SNTTA,0.084405,,,,202545.03*4A

2021-08-14T20:25:44.257Z,1628972744.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 63.356678 deg, deltaT: 4.470556 s, approachRate: 0.483162 m/s, LOS rate: -0.066037 deg/s, posRepo size: 4
2021-08-14T20:25:46.670Z,1628972746.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:47.037Z,1628972747.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:47.037Z,1628972747.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:47.037Z,1628972747.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:47.038Z,1628972747.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:47.443Z,1628972747.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,009D1,183,80,80,A0,FF
2021-08-14T20:25:47.443Z,1628972747.443 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:47.443Z,1628972747.443 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:47.447Z,1628972747.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:47.929Z,1628972747.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:48.328Z,1628972748.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,009F7,184,80,80,9A,FF
2021-08-14T20:25:48.329Z,1628972748.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:48.745Z,1628972748.745 [Micromodem](INFO): Nmea in: $SNTTA,0.076580,,,,202549.46*46

2021-08-14T20:25:48.787Z,1628972748.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.560005 m, bearing: 62.067015 deg, deltaT: 4.519832 s, approachRate: 0.504445 m/s, LOS rate: -0.285334 deg/s, posRepo size: 4
2021-08-14T20:25:51.206Z,1628972751.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:51.559Z,1628972751.559 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:51.560Z,1628972751.560 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:51.561Z,1628972751.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:51.562Z,1628972751.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:51.966Z,1628972751.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,009F7,184,80,80,9A,FF
2021-08-14T20:25:51.966Z,1628972751.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:51.966Z,1628972751.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:51.969Z,1628972751.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:52.377Z,1628972752.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:52.773Z,1628972752.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,00CD5,184,80,80,9A,FF
2021-08-14T20:25:52.774Z,1628972752.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:53.230Z,1628972753.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202553.98*5C

2021-08-14T20:25:53.266Z,1628972753.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 58.097828 deg, deltaT: 4.464823 s, approachRate: 9.863773 m/s, LOS rate: -0.888991 deg/s, posRepo size: 4
2021-08-14T20:25:55.682Z,1628972755.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:25:56.010Z,1628972756.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:25:56.010Z,1628972756.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:25:56.010Z,1628972756.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:25:56.011Z,1628972756.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:25:56.422Z,1628972756.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,00CD5,184,80,80,9A,FF
2021-08-14T20:25:56.422Z,1628972756.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:25:56.422Z,1628972756.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:25:56.425Z,1628972756.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:25:56.808Z,1628972756.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:25:57.225Z,1628972757.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00A47,184,80,80,78,FF
2021-08-14T20:25:57.225Z,1628972757.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:25:57.665Z,1628972757.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202558.44*56

2021-08-14T20:25:57.712Z,1628972757.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.360008 m, bearing: 61.480705 deg, deltaT: 4.450874 s, approachRate: -8.816245 m/s, LOS rate: 0.760048 deg/s, posRepo size: 4
2021-08-14T20:26:00.051Z,1628972760.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:00.461Z,1628972760.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:00.461Z,1628972760.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:00.461Z,1628972760.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:00.462Z,1628972760.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:00.841Z,1628972760.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00A47,184,80,80,78,FF
2021-08-14T20:26:00.841Z,1628972760.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:00.842Z,1628972760.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:00.843Z,1628972760.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:01.274Z,1628972761.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:02.078Z,1628972762.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202602.85*57

2021-08-14T20:26:02.981Z,1628972762.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:04.498Z,1628972764.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,184,80,80,78,FF
2021-08-14T20:26:04.499Z,1628972764.499 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,184,80,80,78,FF
2021-08-14T20:26:04.499Z,1628972764.499 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:26:05.753Z,1628972765.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:06.105Z,1628972766.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:06.105Z,1628972766.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:06.105Z,1628972766.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:06.107Z,1628972766.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:06.512Z,1628972766.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,184,80,80,78,FF
2021-08-14T20:26:06.512Z,1628972766.512 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:06.513Z,1628972766.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:06.514Z,1628972766.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:06.905Z,1628972766.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:07.313Z,1628972767.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,00A9D,185,80,80,96,FF
2021-08-14T20:26:07.314Z,1628972767.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:07.761Z,1628972767.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202608.53*56

2021-08-14T20:26:07.803Z,1628972767.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 59.907241 deg, deltaT: 10.106335 s, approachRate: 0.510570 m/s, LOS rate: -0.155691 deg/s, posRepo size: 4
2021-08-14T20:26:10.151Z,1628972770.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:10.546Z,1628972770.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:10.546Z,1628972770.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:10.546Z,1628972770.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:10.547Z,1628972770.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:11.042Z,1628972771.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,00A9D,185,80,80,96,FF
2021-08-14T20:26:11.042Z,1628972771.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:11.042Z,1628972771.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:11.061Z,1628972771.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:11.357Z,1628972771.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:12.594Z,1628972772.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202613.08*52

2021-08-14T20:26:12.655Z,1628972772.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:14.601Z,1628972774.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,96,FF
2021-08-14T20:26:14.602Z,1628972774.602 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,96,FF
2021-08-14T20:26:14.602Z,1628972774.602 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:26:15.428Z,1628972775.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:15.797Z,1628972775.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:15.797Z,1628972775.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:15.797Z,1628972775.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:15.798Z,1628972775.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:16.201Z,1628972776.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,96,FF
2021-08-14T20:26:16.201Z,1628972776.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:16.201Z,1628972776.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:16.203Z,1628972776.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:16.637Z,1628972776.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:17.441Z,1628972777.441 [Micromodem](INFO): Nmea in: $SNTTA,,0.317915,,,202618.21*44

2021-08-14T20:26:18.234Z,1628972778.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,03A3E,183,80,80,7F,FF
2021-08-14T20:26:18.234Z,1628972778.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:18.693Z,1628972778.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 857.100098 m, bearing: 58.268945 deg, deltaT: 10.856022 s, approachRate: 67.389336 m/s, LOS rate: -0.150911 deg/s, posRepo size: 4
2021-08-14T20:26:21.120Z,1628972781.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:21.465Z,1628972781.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:21.465Z,1628972781.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:21.466Z,1628972781.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:21.467Z,1628972781.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:21.853Z,1628972781.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,03A3E,183,80,80,7F,FF
2021-08-14T20:26:21.853Z,1628972781.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:21.854Z,1628972781.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:21.855Z,1628972781.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:22.269Z,1628972782.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:22.686Z,1628972782.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00B22,183,80,80,71,FF
2021-08-14T20:26:22.686Z,1628972782.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:23.113Z,1628972783.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202623.87*56

2021-08-14T20:26:23.182Z,1628972783.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.500000 m, bearing: 62.513539 deg, deltaT: 4.464907 s, approachRate: -162.063873 m/s, LOS rate: 0.950657 deg/s, posRepo size: 4
2021-08-14T20:26:25.533Z,1628972785.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:25.893Z,1628972785.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:25.893Z,1628972785.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:25.893Z,1628972785.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:25.894Z,1628972785.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:26.305Z,1628972786.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00B22,183,80,80,71,FF
2021-08-14T20:26:26.305Z,1628972786.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:26.305Z,1628972786.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:26.307Z,1628972786.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:26.717Z,1628972786.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:27.577Z,1628972787.577 [Micromodem](INFO): Nmea in: $SNTTA,0.089954,,,,202628.32*44

2021-08-14T20:26:28.354Z,1628972788.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:29.942Z,1628972789.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,183,80,80,71,FF
2021-08-14T20:26:29.942Z,1628972789.942 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,183,80,80,71,FF
2021-08-14T20:26:29.942Z,1628972789.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:26:31.209Z,1628972791.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:31.565Z,1628972791.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:31.565Z,1628972791.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:31.565Z,1628972791.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:31.566Z,1628972791.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:31.955Z,1628972791.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,183,80,80,71,FF
2021-08-14T20:26:31.955Z,1628972791.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:31.955Z,1628972791.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:31.957Z,1628972791.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:32.362Z,1628972792.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:32.773Z,1628972792.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00B7A,185,80,80,78,FF
2021-08-14T20:26:32.774Z,1628972792.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:33.229Z,1628972793.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202633.97*56

2021-08-14T20:26:33.284Z,1628972793.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.779999 m, bearing: 61.155294 deg, deltaT: 10.108679 s, approachRate: 0.522323 m/s, LOS rate: -0.134364 deg/s, posRepo size: 4
2021-08-14T20:26:35.678Z,1628972795.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:35.997Z,1628972795.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:35.997Z,1628972795.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:35.997Z,1628972795.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:35.998Z,1628972795.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:36.399Z,1628972796.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00B7A,185,80,80,78,FF
2021-08-14T20:26:36.399Z,1628972796.399 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:36.399Z,1628972796.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:36.401Z,1628972796.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:36.806Z,1628972796.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:37.209Z,1628972797.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00BA4,183,80,80,73,FF
2021-08-14T20:26:37.210Z,1628972797.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:37.664Z,1628972797.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202638.41*56

2021-08-14T20:26:37.700Z,1628972797.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.300003 m, bearing: 62.202526 deg, deltaT: 4.456899 s, approachRate: 0.565417 m/s, LOS rate: 0.234969 deg/s, posRepo size: 4
2021-08-14T20:26:40.075Z,1628972800.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:40.440Z,1628972800.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:40.440Z,1628972800.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:40.441Z,1628972800.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:40.442Z,1628972800.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:40.853Z,1628972800.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00BA4,183,80,80,73,FF
2021-08-14T20:26:40.853Z,1628972800.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:40.853Z,1628972800.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:40.855Z,1628972800.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:41.250Z,1628972801.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:41.665Z,1628972801.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,00BCB,183,80,80,65,FF
2021-08-14T20:26:41.666Z,1628972801.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:42.094Z,1628972802.094 [Micromodem](INFO): Nmea in: $SNTTA,0.097552,,,,202642.87*43

2021-08-14T20:26:42.113Z,1628972802.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.639999 m, bearing: 64.114310 deg, deltaT: 4.447414 s, approachRate: 0.526148 m/s, LOS rate: 0.429864 deg/s, posRepo size: 4
2021-08-14T20:26:44.532Z,1628972804.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:44.889Z,1628972804.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:44.890Z,1628972804.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:44.890Z,1628972804.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:44.891Z,1628972804.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:45.289Z,1628972805.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,00BCB,183,80,80,65,FF
2021-08-14T20:26:45.289Z,1628972805.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:45.290Z,1628972805.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:45.291Z,1628972805.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:45.783Z,1628972805.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:46.109Z,1628972806.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00BEE,184,80,80,75,FF
2021-08-14T20:26:46.109Z,1628972806.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:46.547Z,1628972806.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202647.31*59

2021-08-14T20:26:46.615Z,1628972806.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.740005 m, bearing: 64.366385 deg, deltaT: 4.428264 s, approachRate: 0.474228 m/s, LOS rate: 0.056924 deg/s, posRepo size: 4
2021-08-14T20:26:49.014Z,1628972809.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:49.337Z,1628972809.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:49.337Z,1628972809.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:49.337Z,1628972809.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:49.338Z,1628972809.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:49.731Z,1628972809.731 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00BEE,184,80,80,75,FF
2021-08-14T20:26:49.731Z,1628972809.731 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:49.731Z,1628972809.731 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:49.733Z,1628972809.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:50.159Z,1628972810.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:50.542Z,1628972810.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00C1A,183,80,80,50,FF
2021-08-14T20:26:50.542Z,1628972810.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:26:51.013Z,1628972811.013 [Micromodem](INFO): Nmea in: $SNTTA,0.109496,,,,202651.75*43

2021-08-14T20:26:51.081Z,1628972811.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.380005 m, bearing: 63.345162 deg, deltaT: 4.452103 s, approachRate: 0.592978 m/s, LOS rate: -0.229380 deg/s, posRepo size: 4
2021-08-14T20:26:53.410Z,1628972813.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:53.775Z,1628972813.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:53.775Z,1628972813.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:53.775Z,1628972813.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:53.776Z,1628972813.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:54.180Z,1628972814.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00C1A,183,80,80,50,FF
2021-08-14T20:26:54.181Z,1628972814.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:54.181Z,1628972814.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:54.183Z,1628972814.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:26:54.604Z,1628972814.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:26:55.438Z,1628972815.438 [Micromodem](INFO): Nmea in: $SNTTA,0.284656,,,,202656.20*4C

2021-08-14T20:26:56.231Z,1628972816.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:57.815Z,1628972817.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:26:57.815Z,1628972817.815 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:26:57.815Z,1628972817.815 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:26:59.103Z,1628972819.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:26:59.447Z,1628972819.447 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:26:59.448Z,1628972819.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:26:59.448Z,1628972819.448 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:26:59.449Z,1628972819.449 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:26:59.835Z,1628972819.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:26:59.835Z,1628972819.835 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:26:59.835Z,1628972819.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:26:59.840Z,1628972819.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:00.245Z,1628972820.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:01.058Z,1628972821.058 [Micromodem](INFO): Nmea in: $SNTTA,0.419638,0.418000,,,202701.93*5E

2021-08-14T20:27:01.906Z,1628972821.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:03.481Z,1628972823.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:27:03.482Z,1628972823.482 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:27:03.482Z,1628972823.482 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:27:04.722Z,1628972824.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:05.089Z,1628972825.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:05.089Z,1628972825.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:05.089Z,1628972825.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:05.090Z,1628972825.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:05.493Z,1628972825.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:27:05.493Z,1628972825.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:05.493Z,1628972825.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:05.495Z,1628972825.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:05.906Z,1628972825.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:06.750Z,1628972826.750 [Micromodem](INFO): Nmea in: $SNTTA,0.265120,,,,202707.51*46

2021-08-14T20:27:07.152Z,1628972827.152 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-14T20:27:07.152Z,1628972827.152 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T20:27:07.152Z,1628972827.152 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T20:27:07.340Z,1628972827.340 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T20:27:07.581Z,1628972827.581 [RDI_Pathfinder](INFO): Powering down
2021-08-14T20:27:07.622Z,1628972827.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:08.456Z,1628972828.456 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T20:27:08.456Z,1628972828.456 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T20:27:09.135Z,1628972829.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:27:09.135Z,1628972829.135 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:27:09.135Z,1628972829.135 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:27:10.378Z,1628972830.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:10.751Z,1628972830.751 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:10.751Z,1628972830.751 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:10.751Z,1628972830.751 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:10.752Z,1628972830.752 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:11.145Z,1628972831.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,50,FF
2021-08-14T20:27:11.145Z,1628972831.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:11.145Z,1628972831.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:11.147Z,1628972831.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:11.592Z,1628972831.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:12.378Z,1628972832.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202713.16*5C

2021-08-14T20:27:13.170Z,1628972833.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,03B3E,184,80,80,79,FF
2021-08-14T20:27:13.174Z,1628972833.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:27:13.634Z,1628972833.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 872.460022 m, bearing: 68.738450 deg, deltaT: 22.624979 s, approachRate: 32.003567 m/s, LOS rate: 0.238378 deg/s, posRepo size: 4
2021-08-14T20:27:16.021Z,1628972836.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:16.397Z,1628972836.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:16.397Z,1628972836.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:16.397Z,1628972836.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:16.398Z,1628972836.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:16.805Z,1628972836.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,03B3E,184,80,80,79,FF
2021-08-14T20:27:16.805Z,1628972836.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:16.805Z,1628972836.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:16.807Z,1628972836.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:17.216Z,1628972837.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:17.650Z,1628972837.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00F3E,184,80,80,79,FF
2021-08-14T20:27:17.650Z,1628972837.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:27:18.062Z,1628972838.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202718.82*5A

2021-08-14T20:27:18.087Z,1628972838.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.619980 m, bearing: 69.082685 deg, deltaT: 4.469734 s, approachRate: -151.203629 m/s, LOS rate: 0.077015 deg/s, posRepo size: 4
2021-08-14T20:27:20.474Z,1628972840.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:20.845Z,1628972840.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:20.845Z,1628972840.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:20.845Z,1628972840.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:20.846Z,1628972840.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:21.253Z,1628972841.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00F3E,184,80,80,79,FF
2021-08-14T20:27:21.253Z,1628972841.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:21.254Z,1628972841.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:21.255Z,1628972841.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:21.670Z,1628972841.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:22.058Z,1628972842.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,00F3E,184,80,80,79,FF
2021-08-14T20:27:22.058Z,1628972842.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:27:22.505Z,1628972842.505 [Micromodem](INFO): Nmea in: $SNTTA,0.120985,,,,202723.27*44

2021-08-14T20:27:22.527Z,1628972842.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.619980 m, bearing: 68.284932 deg, deltaT: 4.409323 s, approachRate: 0.000000 m/s, LOS rate: -0.180924 deg/s, posRepo size: 4
2021-08-14T20:27:24.969Z,1628972844.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:25.289Z,1628972845.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:25.289Z,1628972845.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:25.289Z,1628972845.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:25.290Z,1628972845.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:25.689Z,1628972845.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,00F3E,184,80,80,79,FF
2021-08-14T20:27:25.689Z,1628972845.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:25.689Z,1628972845.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:25.691Z,1628972845.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:26.118Z,1628972846.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:26.941Z,1628972846.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202727.70*5B

2021-08-14T20:27:27.760Z,1628972847.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:29.338Z,1628972849.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:29.338Z,1628972849.338 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:29.338Z,1628972849.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:27:29.765Z,1628972849.765 [CTD_Seabird](ERROR): Failed to parse device response: 58635,4.76378,4839.26
2021-08-14T20:27:30.613Z,1628972850.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:30.961Z,1628972850.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:30.961Z,1628972850.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:30.961Z,1628972850.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:30.962Z,1628972850.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:31.354Z,1628972851.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:31.354Z,1628972851.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:31.354Z,1628972851.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:31.356Z,1628972851.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:31.764Z,1628972851.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:32.176Z,1628972852.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,,E4
E,184,80,80,79,FF
2021-08-14T20:27:32.177Z,1628972852.177 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FD8,000,,E4
E,184,80,80,79,FF
2021-08-14T20:27:32.607Z,1628972852.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202733.37*5D

2021-08-14T20:27:33.403Z,1628972853.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:36.227Z,1628972856.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:37.036Z,1628972857.036 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073797
2021-08-14T20:27:39.085Z,1628972859.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:39.449Z,1628972859.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:39.449Z,1628972859.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:39.450Z,1628972859.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:39.451Z,1628972859.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:39.847Z,1628972859.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,,E4
E,184,80,80,79,FF
2021-08-14T20:27:39.847Z,1628972859.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:39.847Z,1628972859.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:39.849Z,1628972859.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:40.248Z,1628972860.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:41.086Z,1628972861.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202741.86*52

2021-08-14T20:27:41.911Z,1628972861.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:43.486Z,1628972863.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:43.486Z,1628972863.486 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:43.486Z,1628972863.486 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:27:44.730Z,1628972864.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:45.093Z,1628972865.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:45.093Z,1628972865.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:45.093Z,1628972865.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:45.094Z,1628972865.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:45.509Z,1628972865.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:45.509Z,1628972865.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:45.509Z,1628972865.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:45.511Z,1628972865.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:45.901Z,1628972865.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:46.317Z,1628972866.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,0,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:46.318Z,1628972866.318 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,010,0,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:46.726Z,1628972866.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202747.52*5D

2021-08-14T20:27:47.543Z,1628972867.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:50.390Z,1628972870.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:51.176Z,1628972871.176 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.081992
2021-08-14T20:27:53.247Z,1628972873.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:53.606Z,1628972873.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:53.606Z,1628972873.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:53.607Z,1628972873.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:53.607Z,1628972873.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:53.977Z,1628972873.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,0,63,E4
E,184,80,80,79,FF
2021-08-14T20:27:53.977Z,1628972873.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:53.978Z,1628972873.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:53.979Z,1628972873.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:54.402Z,1628972874.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:27:54.817Z,1628972874.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00E4E,183,80,80,79,FF
2021-08-14T20:27:54.818Z,1628972874.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:27:55.238Z,1628972875.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202755.99*59

2021-08-14T20:27:55.290Z,1628972875.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.219986 m, bearing: 62.111807 deg, deltaT: 32.802046 s, approachRate: -0.438997 m/s, LOS rate: -0.188193 deg/s, posRepo size: 4
2021-08-14T20:27:57.699Z,1628972877.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:27:58.029Z,1628972878.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:27:58.029Z,1628972878.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:27:58.029Z,1628972878.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:27:58.030Z,1628972878.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:27:58.422Z,1628972878.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00E4E,183,80,80,79,FF
2021-08-14T20:27:58.422Z,1628972878.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:27:58.423Z,1628972878.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:27:58.425Z,1628972878.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:27:58.875Z,1628972878.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:00.471Z,1628972880.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:02.061Z,1628972882.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,183,80,80,79,FF
2021-08-14T20:28:02.061Z,1628972882.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,183,80,80,79,FF
2021-08-14T20:28:02.062Z,1628972882.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:28:03.290Z,1628972883.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:03.685Z,1628972883.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:03.685Z,1628972883.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:03.686Z,1628972883.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:03.687Z,1628972883.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:04.081Z,1628972884.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,183,80,80,79,FF
2021-08-14T20:28:04.081Z,1628972884.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:04.081Z,1628972884.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:04.083Z,1628972884.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:04.493Z,1628972884.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:05.314Z,1628972885.314 [Micromodem](INFO): Nmea in: $SNTTA,,0.295659,,,202806.10*4B

2021-08-14T20:28:06.135Z,1628972886.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:07.717Z,1628972887.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,183,80,80,79,FF
2021-08-14T20:28:07.717Z,1628972887.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,183,80,80,79,FF
2021-08-14T20:28:07.718Z,1628972887.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:28:09.011Z,1628972889.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:09.333Z,1628972889.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:09.333Z,1628972889.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:09.333Z,1628972889.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:09.334Z,1628972889.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:09.741Z,1628972889.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,183,80,80,79,FF
2021-08-14T20:28:09.741Z,1628972889.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:09.742Z,1628972889.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:09.748Z,1628972889.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:10.152Z,1628972890.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:10.953Z,1628972890.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00ED6,185,80,80,52,FF
2021-08-14T20:28:10.954Z,1628972890.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:10.957Z,1628972890.957 [Micromodem](INFO): Nmea in: $SNTTA,0.463505,0.423013,,,202811.76*51

2021-08-14T20:28:11.394Z,1628972891.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.380005 m, bearing: 60.697337 deg, deltaT: 16.125430 s, approachRate: 0.506034 m/s, LOS rate: -0.087717 deg/s, posRepo size: 4
2021-08-14T20:28:13.809Z,1628972893.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:14.189Z,1628972894.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:14.189Z,1628972894.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:14.189Z,1628972894.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:14.190Z,1628972894.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:14.621Z,1628972894.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00ED6,185,80,80,52,FF
2021-08-14T20:28:14.621Z,1628972894.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:14.622Z,1628972894.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:14.623Z,1628972894.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:15.005Z,1628972895.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:15.819Z,1628972895.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202816.64*53

2021-08-14T20:28:16.669Z,1628972896.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:18.234Z,1628972898.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,52,FF
2021-08-14T20:28:18.237Z,1628972898.237 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,52,FF
2021-08-14T20:28:18.239Z,1628972898.239 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:28:19.475Z,1628972899.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:19.841Z,1628972899.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:19.841Z,1628972899.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:19.841Z,1628972899.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:19.842Z,1628972899.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:20.245Z,1628972900.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,52,FF
2021-08-14T20:28:20.245Z,1628972900.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:20.245Z,1628972900.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:20.247Z,1628972900.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:20.665Z,1628972900.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:21.481Z,1628972901.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00F2F,184,80,80,49,FF
2021-08-14T20:28:21.481Z,1628972901.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:21.508Z,1628972901.508 [Micromodem](INFO): Nmea in: $SNTTA,0.212932,,,,202822.26*45

2021-08-14T20:28:21.906Z,1628972901.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.719986 m, bearing: 59.014781 deg, deltaT: 10.482469 s, approachRate: 0.509420 m/s, LOS rate: -0.160511 deg/s, posRepo size: 4
2021-08-14T20:28:24.304Z,1628972904.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:24.693Z,1628972904.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:24.693Z,1628972904.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:24.694Z,1628972904.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:24.695Z,1628972904.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:25.093Z,1628972905.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00F2F,184,80,80,49,FF
2021-08-14T20:28:25.093Z,1628972905.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:25.093Z,1628972905.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:25.095Z,1628972905.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:25.500Z,1628972905.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:26.329Z,1628972906.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00F57,184,80,80,6D,FF
2021-08-14T20:28:26.329Z,1628972906.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:26.333Z,1628972906.333 [Micromodem](INFO): Nmea in: $SNTTA,0.134411,,,,202827.11*4F

2021-08-14T20:28:26.755Z,1628972906.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.119980 m, bearing: 57.869645 deg, deltaT: 4.865492 s, approachRate: 0.493268 m/s, LOS rate: -0.235359 deg/s, posRepo size: 4
2021-08-14T20:28:29.191Z,1628972909.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:29.545Z,1628972909.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:29.546Z,1628972909.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:29.546Z,1628972909.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:29.547Z,1628972909.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:29.941Z,1628972909.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00F57,184,80,80,6D,FF
2021-08-14T20:28:29.941Z,1628972909.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:29.941Z,1628972909.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:29.943Z,1628972909.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:30.348Z,1628972910.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:30.829Z,1628972910.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00F83,184,80,80,63,FF
2021-08-14T20:28:30.829Z,1628972910.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:31.189Z,1628972911.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202831.96*5B

2021-08-14T20:28:31.223Z,1628972911.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 61.667428 deg, deltaT: 4.520964 s, approachRate: 0.583950 m/s, LOS rate: 0.840038 deg/s, posRepo size: 4
2021-08-14T20:28:33.634Z,1628972913.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:33.981Z,1628972913.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:33.981Z,1628972913.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:33.981Z,1628972913.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:33.982Z,1628972913.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:34.385Z,1628972914.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00F83,184,80,80,63,FF
2021-08-14T20:28:34.385Z,1628972914.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:34.385Z,1628972914.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:34.387Z,1628972914.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:34.829Z,1628972914.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:35.634Z,1628972915.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202836.40*57

2021-08-14T20:28:36.443Z,1628972916.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:38.026Z,1628972918.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,63,FF
2021-08-14T20:28:38.026Z,1628972918.026 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,63,FF
2021-08-14T20:28:38.026Z,1628972918.026 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:28:38.946Z,1628972918.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:39.237Z,1628972919.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:39.237Z,1628972919.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:39.237Z,1628972919.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:39.238Z,1628972919.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:39.641Z,1628972919.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,63,FF
2021-08-14T20:28:39.642Z,1628972919.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:39.642Z,1628972919.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:39.643Z,1628972919.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:40.056Z,1628972920.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:40.882Z,1628972920.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202841.66*53

2021-08-14T20:28:41.726Z,1628972921.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:43.318Z,1628972923.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,63,FF
2021-08-14T20:28:43.319Z,1628972923.319 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,63,FF
2021-08-14T20:28:43.319Z,1628972923.319 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:28:44.532Z,1628972924.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:44.906Z,1628972924.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:44.906Z,1628972924.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:44.906Z,1628972924.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:44.907Z,1628972924.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:45.306Z,1628972925.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,63,FF
2021-08-14T20:28:45.306Z,1628972925.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:45.306Z,1628972925.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:45.308Z,1628972925.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:45.711Z,1628972925.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:46.534Z,1628972926.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,01007,184,80,80,7A,FF
2021-08-14T20:28:46.534Z,1628972926.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:46.539Z,1628972926.539 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202847.32*54

2021-08-14T20:28:46.984Z,1628972926.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.679993 m, bearing: 62.678378 deg, deltaT: 15.710567 s, approachRate: 0.504119 m/s, LOS rate: 0.064348 deg/s, posRepo size: 4
2021-08-14T20:28:49.355Z,1628972929.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:49.742Z,1628972929.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:49.742Z,1628972929.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:49.742Z,1628972929.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:49.743Z,1628972929.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:50.158Z,1628972930.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,01007,184,80,80,7A,FF
2021-08-14T20:28:50.158Z,1628972930.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:50.159Z,1628972930.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:50.160Z,1628972930.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:50.555Z,1628972930.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:51.377Z,1628972931.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,01035,184,80,80,62,FF
2021-08-14T20:28:51.377Z,1628972931.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:51.382Z,1628972931.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202852.18*58

2021-08-14T20:28:51.802Z,1628972931.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.439987 m, bearing: 60.209326 deg, deltaT: 4.785551 s, approachRate: 0.576735 m/s, LOS rate: -0.515939 deg/s, posRepo size: 4
2021-08-14T20:28:54.215Z,1628972934.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:54.609Z,1628972934.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:54.609Z,1628972934.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:54.610Z,1628972934.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:54.611Z,1628972934.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:54.989Z,1628972934.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,01035,184,80,80,62,FF
2021-08-14T20:28:54.989Z,1628972934.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:54.989Z,1628972934.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:54.991Z,1628972934.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:28:55.397Z,1628972935.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:28:56.229Z,1628972936.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,01150,183,80,80,6E,FF
2021-08-14T20:28:56.229Z,1628972936.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:28:56.232Z,1628972936.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202857.01*55

2021-08-14T20:28:56.678Z,1628972936.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.419983 m, bearing: 62.796240 deg, deltaT: 4.850584 s, approachRate: 3.500608 m/s, LOS rate: 0.533320 deg/s, posRepo size: 4
2021-08-14T20:28:59.078Z,1628972939.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:28:59.438Z,1628972939.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:28:59.438Z,1628972939.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:28:59.438Z,1628972939.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:28:59.439Z,1628972939.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:28:59.837Z,1628972939.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,01150,183,80,80,6E,FF
2021-08-14T20:28:59.837Z,1628972939.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:28:59.837Z,1628972939.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:28:59.839Z,1628972939.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:00.263Z,1628972940.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:01.051Z,1628972941.051 [Micromodem](INFO): Nmea in: $SNTTA,0.376371,0.415988,,,202901.86*56

2021-08-14T20:29:01.901Z,1628972941.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:03.883Z,1628972943.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0995C,184,80,80,68,FF
2021-08-14T20:29:03.883Z,1628972943.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:29:04.314Z,1628972944.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2318.100098 m, bearing: 65.440029 deg, deltaT: 7.652461 s, approachRate: 273.072968 m/s, LOS rate: 0.345482 deg/s, posRepo size: 4
2021-08-14T20:29:04.314Z,1628972944.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2318.10 m. Resuming terminal guidance.
2021-08-14T20:29:04.314Z,1628972944.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T20:29:06.733Z,1628972946.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:07.109Z,1628972947.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:07.109Z,1628972947.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:07.109Z,1628972947.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:07.110Z,1628972947.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:07.517Z,1628972947.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0995C,184,80,80,68,FF
2021-08-14T20:29:07.517Z,1628972947.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:07.518Z,1628972947.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:07.519Z,1628972947.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:07.928Z,1628972947.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:08.736Z,1628972948.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202909.54*5F

2021-08-14T20:29:09.588Z,1628972949.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:11.154Z,1628972951.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:11.154Z,1628972951.154 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:11.154Z,1628972951.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:12.379Z,1628972952.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:12.788Z,1628972952.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:12.788Z,1628972952.788 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:12.789Z,1628972952.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:12.790Z,1628972952.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:13.173Z,1628972953.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:13.173Z,1628972953.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:13.173Z,1628972953.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:13.175Z,1628972953.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:13.603Z,1628972953.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:14.402Z,1628972954.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202915.19*5B

2021-08-14T20:29:14.901Z,1628972954.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:16.841Z,1628972956.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:16.841Z,1628972956.841 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:16.841Z,1628972956.841 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:17.678Z,1628972957.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:18.017Z,1628972958.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:18.017Z,1628972958.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:18.017Z,1628972958.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:18.018Z,1628972958.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:18.430Z,1628972958.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:18.430Z,1628972958.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:18.431Z,1628972958.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:18.433Z,1628972958.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:18.867Z,1628972958.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:19.655Z,1628972959.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202920.45*54

2021-08-14T20:29:20.475Z,1628972960.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:22.054Z,1628972962.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:22.054Z,1628972962.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:22.055Z,1628972962.055 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:23.334Z,1628972963.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:23.673Z,1628972963.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:23.673Z,1628972963.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:23.673Z,1628972963.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:23.674Z,1628972963.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:24.081Z,1628972964.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:24.081Z,1628972964.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:24.081Z,1628972964.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:24.083Z,1628972964.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:24.493Z,1628972964.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:24.911Z,1628972964.911 [Micromodem](INFO): Nmea in: $SNTTA,0.295344,0.295625,,,202926.10*50

2021-08-14T20:29:26.119Z,1628972966.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:27.709Z,1628972967.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:27.710Z,1628972967.710 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:27.710Z,1628972967.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:28.995Z,1628972968.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:29.333Z,1628972969.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:29.333Z,1628972969.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:29.333Z,1628972969.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:29.334Z,1628972969.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:29.733Z,1628972969.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:29.733Z,1628972969.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:29.733Z,1628972969.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:29.735Z,1628972969.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:30.140Z,1628972970.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:30.975Z,1628972970.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202931.75*57

2021-08-14T20:29:31.799Z,1628972971.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:33.377Z,1628972973.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:33.377Z,1628972973.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:33.378Z,1628972973.378 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:34.649Z,1628972974.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:34.985Z,1628972974.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:34.985Z,1628972974.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:34.985Z,1628972974.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:34.986Z,1628972974.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:35.401Z,1628972975.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,68,FF
2021-08-14T20:29:35.401Z,1628972975.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:35.402Z,1628972975.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:35.403Z,1628972975.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:35.806Z,1628972975.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:36.645Z,1628972976.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09C,000,011C5,187,80,80,3C,FF
2021-08-14T20:29:36.645Z,1628972976.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:29:36.648Z,1628972976.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202937.42*55

2021-08-14T20:29:37.075Z,1628972977.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.439987 m, bearing: 53.451090 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T20:29:37.084Z,1628972977.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 53.451090deg and heading rate command to 0 deg/s.
2021-08-14T20:29:39.479Z,1628972979.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:39.833Z,1628972979.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:39.833Z,1628972979.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:39.833Z,1628972979.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:39.834Z,1628972979.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:40.247Z,1628972980.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09C,000,011C5,187,80,80,3C,FF
2021-08-14T20:29:40.247Z,1628972980.247 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:40.247Z,1628972980.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:40.249Z,1628972980.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:40.656Z,1628972980.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:41.478Z,1628972981.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202942.27*54

2021-08-14T20:29:42.271Z,1628972982.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:43.873Z,1628972983.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:43.874Z,1628972983.874 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:43.874Z,1628972983.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:45.176Z,1628972985.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:45.493Z,1628972985.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:45.493Z,1628972985.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:45.493Z,1628972985.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:45.494Z,1628972985.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:45.903Z,1628972985.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:45.903Z,1628972985.903 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:45.903Z,1628972985.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:45.906Z,1628972985.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:46.301Z,1628972986.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:47.122Z,1628972987.122 [Micromodem](INFO): Nmea in: $SNTTA,,0.364992,,,202947.96*46

2021-08-14T20:29:47.966Z,1628972987.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:49.529Z,1628972989.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:49.529Z,1628972989.529 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:49.529Z,1628972989.529 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:50.925Z,1628972990.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:51.156Z,1628972991.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:51.156Z,1628972991.156 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:51.157Z,1628972991.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:51.158Z,1628972991.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:51.553Z,1628972991.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:51.553Z,1628972991.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:51.553Z,1628972991.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:51.555Z,1628972991.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:51.960Z,1628972991.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:52.823Z,1628972992.823 [Micromodem](INFO): Nmea in: $SNTTA,0.163869,,,,202953.57*4E

2021-08-14T20:29:53.631Z,1628972993.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:55.196Z,1628972995.196 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:55.197Z,1628972995.197 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:55.197Z,1628972995.197 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:29:56.436Z,1628972996.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:29:56.830Z,1628972996.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:29:56.831Z,1628972996.831 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:29:56.831Z,1628972996.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:29:56.832Z,1628972996.832 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:29:57.219Z,1628972997.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:29:57.219Z,1628972997.219 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:29:57.219Z,1628972997.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:29:57.243Z,1628972997.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:29:57.640Z,1628972997.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:29:58.431Z,1628972998.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202959.26*5F

2021-08-14T20:29:58.949Z,1628972998.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:00.881Z,1628973000.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:00.881Z,1628973000.881 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:00.881Z,1628973000.881 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:30:01.694Z,1628973001.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:02.057Z,1628973002.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:02.057Z,1628973002.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:02.057Z,1628973002.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:02.058Z,1628973002.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:02.474Z,1628973002.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:02.474Z,1628973002.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:02.474Z,1628973002.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:02.476Z,1628973002.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:02.885Z,1628973002.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:02.911Z,1628973002.911 [Micromodem](INFO): Nmea in: ,0.20.0.39330*7E

2021-08-14T20:30:02.912Z,1628973002.912 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,0.20.0.39330*7E
 expected 0
2021-08-14T20:30:04.510Z,1628973004.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:06.089Z,1628973006.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:06.090Z,1628973006.090 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:06.090Z,1628973006.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:30:07.333Z,1628973007.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:07.709Z,1628973007.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:07.709Z,1628973007.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:07.709Z,1628973007.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:07.710Z,1628973007.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:08.117Z,1628973008.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:08.117Z,1628973008.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:08.118Z,1628973008.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:08.119Z,1628973008.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:08.526Z,1628973008.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:08.943Z,1628973008.943 [Micromodem](INFO): Nmea in: $SNTTA,0.276487,0.276518,,,203010.14*5C

2021-08-14T20:30:10.155Z,1628973010.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:11.749Z,1628973011.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:11.750Z,1628973011.750 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:11.750Z,1628973011.750 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:30:13.013Z,1628973013.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:13.389Z,1628973013.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:13.389Z,1628973013.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:13.389Z,1628973013.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:13.390Z,1628973013.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:13.777Z,1628973013.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,3C,FF
2021-08-14T20:30:13.777Z,1628973013.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:13.777Z,1628973013.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:13.779Z,1628973013.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:14.181Z,1628973014.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:15.013Z,1628973015.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,01307,189,80,80,20,FF
2021-08-14T20:30:15.013Z,1628973015.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:30:15.016Z,1628973015.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203015.79*55

2021-08-14T20:30:15.443Z,1628973015.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.759995 m, bearing: 18.464325 deg, deltaT: 38.421759 s, approachRate: 0.502840 m/s, LOS rate: -0.910598 deg/s, posRepo size: 2
2021-08-14T20:30:15.446Z,1628973015.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.759995 m,
      bearing: 18.464325 deg,
      approachRate: 0.502840 m/s,
      LOS rate: -0.910598 deg/s,
      cmd update: -3.642390 deg/s,
      cmd heading: 53.451090 deg,
      new cmd heading: 53.451090 deg.

2021-08-14T20:30:17.841Z,1628973017.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:18.213Z,1628973018.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:18.213Z,1628973018.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:18.213Z,1628973018.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:18.214Z,1628973018.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:18.629Z,1628973018.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,01307,189,80,80,20,FF
2021-08-14T20:30:18.630Z,1628973018.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:18.630Z,1628973018.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:18.631Z,1628973018.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:19.033Z,1628973019.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:19.846Z,1628973019.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203020.65*5E

2021-08-14T20:30:20.685Z,1628973020.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:22.249Z,1628973022.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,20,FF
2021-08-14T20:30:22.249Z,1628973022.249 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,20,FF
2021-08-14T20:30:22.250Z,1628973022.250 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:30:23.515Z,1628973023.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:23.881Z,1628973023.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:23.881Z,1628973023.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:23.881Z,1628973023.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:23.882Z,1628973023.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:24.273Z,1628973024.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,20,FF
2021-08-14T20:30:24.273Z,1628973024.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:24.273Z,1628973024.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:24.275Z,1628973024.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:24.697Z,1628973024.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:25.514Z,1628973025.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203026.29*50

2021-08-14T20:30:26.327Z,1628973026.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:27.917Z,1628973027.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,08FF8,189,80,80,3B,FF
2021-08-14T20:30:27.917Z,1628973027.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:30:28.365Z,1628973028.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2173.859863 m, bearing: 349.307977 deg, deltaT: 12.872881 s, approachRate: 149.080841 m/s, LOS rate: -2.264943 deg/s, posRepo size: 3
2021-08-14T20:30:28.367Z,1628973028.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2173.859863 m,
      bearing: 349.307977 deg,
      approachRate: 149.080841 m/s,
      LOS rate: -2.264943 deg/s,
      cmd update: -9.059774 deg/s,
      cmd heading: 6.549040 deg,
      new cmd heading: 5.106162 deg.

2021-08-14T20:30:30.854Z,1628973030.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:31.149Z,1628973031.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:31.149Z,1628973031.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:31.149Z,1628973031.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:31.150Z,1628973031.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:31.595Z,1628973031.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,08FF8,189,80,80,3B,FF
2021-08-14T20:30:31.596Z,1628973031.596 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:31.596Z,1628973031.596 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:31.598Z,1628973031.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:31.957Z,1628973031.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:32.765Z,1628973032.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,01388,189,80,80,7D,FF
2021-08-14T20:30:32.766Z,1628973032.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:30:32.791Z,1628973032.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203033.61*58

2021-08-14T20:30:33.243Z,1628973033.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.500000 m, bearing: 337.283429 deg, deltaT: 4.910623 s, approachRate: -389.229614 m/s, LOS rate: -2.448681 deg/s, posRepo size: 4
2021-08-14T20:30:33.250Z,1628973033.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.500000 m,
      bearing: 337.283429 deg,
      approachRate: -389.229614 m/s,
      LOS rate: -2.448681 deg/s,
      cmd update: -9.794723 deg/s,
      cmd heading: 322.093618 deg,
      new cmd heading: 318.761307 deg.

2021-08-14T20:30:35.657Z,1628973035.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:35.997Z,1628973035.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:35.997Z,1628973035.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:35.997Z,1628973035.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:35.998Z,1628973035.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:36.398Z,1628973036.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,01388,189,80,80,7D,FF
2021-08-14T20:30:36.398Z,1628973036.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:36.398Z,1628973036.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:36.410Z,1628973036.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:36.838Z,1628973036.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:37.217Z,1628973037.217 [Micromodem](INFO): Nmea in: $SNTTA,0.130578,0.130584,,,203038.43*50

2021-08-14T20:30:38.470Z,1628973038.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:40.037Z,1628973040.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,7D,FF
2021-08-14T20:30:40.037Z,1628973040.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,7D,FF
2021-08-14T20:30:40.037Z,1628973040.037 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:30:41.297Z,1628973041.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:41.645Z,1628973041.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:41.645Z,1628973041.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:41.645Z,1628973041.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:41.646Z,1628973041.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:42.055Z,1628973042.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,7D,FF
2021-08-14T20:30:42.055Z,1628973042.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:42.055Z,1628973042.055 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:42.057Z,1628973042.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:42.469Z,1628973042.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:43.269Z,1628973043.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,01388,189,80,80,5C,FF
2021-08-14T20:30:43.269Z,1628973043.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:30:43.720Z,1628973043.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.500000 m, bearing: 282.525147 deg, deltaT: 10.407238 s, approachRate: 0.000000 m/s, LOS rate: -5.261558 deg/s, posRepo size: 4
2021-08-14T20:30:43.724Z,1628973043.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.500000 m,
      bearing: 282.525147 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.261558 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 220.118537 deg,
      new cmd heading: 215.887668 deg.

2021-08-14T20:30:46.123Z,1628973046.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:46.497Z,1628973046.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:46.497Z,1628973046.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:46.497Z,1628973046.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:46.498Z,1628973046.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:46.893Z,1628973046.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,01388,189,80,80,5C,FF
2021-08-14T20:30:46.893Z,1628973046.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:46.894Z,1628973046.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:46.895Z,1628973046.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:47.309Z,1628973047.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:48.137Z,1628973048.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0136F,189,80,80,6D,FF
2021-08-14T20:30:48.137Z,1628973048.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:30:48.140Z,1628973048.140 [Micromodem](INFO): Nmea in: $SNTTA,0.176083,,,,203048.91*4E

2021-08-14T20:30:48.621Z,1628973048.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.000000 m, bearing: 245.265809 deg, deltaT: 4.868857 s, approachRate: -0.308081 m/s, LOS rate: -7.652584 deg/s, posRepo size: 4
2021-08-14T20:30:48.628Z,1628973048.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.000000 m,
      bearing: 245.265809 deg,
      approachRate: -0.308081 m/s,
      LOS rate: -7.652584 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 161.692155 deg,
      new cmd heading: 156.565455 deg.

2021-08-14T20:30:50.997Z,1628973050.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:51.341Z,1628973051.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:51.341Z,1628973051.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:51.341Z,1628973051.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:51.342Z,1628973051.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:51.745Z,1628973051.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0136F,189,80,80,6D,FF
2021-08-14T20:30:51.745Z,1628973051.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:51.745Z,1628973051.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:51.747Z,1628973051.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:52.152Z,1628973052.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:52.973Z,1628973052.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0134E,189,80,80,43,FF
2021-08-14T20:30:52.974Z,1628973052.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:30:52.977Z,1628973052.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203053.76*58

2021-08-14T20:30:53.404Z,1628973053.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.019989 m, bearing: 226.763086 deg, deltaT: 4.911220 s, approachRate: -0.403161 m/s, LOS rate: -3.767439 deg/s, posRepo size: 4
2021-08-14T20:30:53.406Z,1628973053.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.019989 m,
      bearing: 226.763086 deg,
      approachRate: -0.403161 m/s,
      LOS rate: -3.767439 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 102.757322 deg,
      new cmd heading: 98.709854 deg.

2021-08-14T20:30:55.834Z,1628973055.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:30:56.193Z,1628973056.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:30:56.194Z,1628973056.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:30:56.194Z,1628973056.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:30:56.195Z,1628973056.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:30:56.621Z,1628973056.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0134E,189,80,80,43,FF
2021-08-14T20:30:56.621Z,1628973056.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:30:56.622Z,1628973056.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:30:56.623Z,1628973056.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:30:57.008Z,1628973057.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:30:57.810Z,1628973057.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203058.64*50

2021-08-14T20:30:58.676Z,1628973058.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:00.225Z,1628973060.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,43,FF
2021-08-14T20:31:00.225Z,1628973060.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,43,FF
2021-08-14T20:31:00.226Z,1628973060.226 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:31:01.477Z,1628973061.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:01.849Z,1628973061.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:01.849Z,1628973061.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:01.849Z,1628973061.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:01.850Z,1628973061.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:02.255Z,1628973062.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,43,FF
2021-08-14T20:31:02.255Z,1628973062.255 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:02.255Z,1628973062.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:02.257Z,1628973062.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:02.656Z,1628973062.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:03.067Z,1628973063.067 [Micromodem](INFO): Nmea in: $SNTTA,0.206224,0.206037,,,203104.27*5F

2021-08-14T20:31:03.477Z,1628973063.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,012E7,189,80,80,6E,FF
2021-08-14T20:31:03.478Z,1628973063.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:03.909Z,1628973063.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.839996 m, bearing: 229.196560 deg, deltaT: 10.428378 s, approachRate: -0.592613 m/s, LOS rate: 0.233351 deg/s, posRepo size: 4
2021-08-14T20:31:03.911Z,1628973063.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.839996 m,
      bearing: 229.196560 deg,
      approachRate: -0.592613 m/s,
      LOS rate: 0.233351 deg/s,
      cmd update: 0.933404 deg/s,
      cmd heading: 337.616794 deg,
      new cmd heading: 332.650282 deg.

2021-08-14T20:31:06.317Z,1628973066.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:06.701Z,1628973066.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:06.701Z,1628973066.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:06.701Z,1628973066.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:06.702Z,1628973066.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:07.106Z,1628973067.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,012E7,189,80,80,6E,FF
2021-08-14T20:31:07.106Z,1628973067.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:07.106Z,1628973067.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:07.108Z,1628973067.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:07.512Z,1628973067.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:08.333Z,1628973068.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,012BB,189,80,80,42,FF
2021-08-14T20:31:08.333Z,1628973068.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:08.336Z,1628973068.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203109.13*55

2021-08-14T20:31:08.826Z,1628973068.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.199982 m, bearing: 349.299535 deg, deltaT: 4.857047 s, approachRate: -0.543543 m/s, LOS rate: 24.727571 deg/s, posRepo size: 4
2021-08-14T20:31:08.827Z,1628973068.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.727571 deg/s. Setting heading cmd to target bearing of 349.299535deg and heading rate command to 0 deg/s.
2021-08-14T20:31:10.882Z,1628973070.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:11.149Z,1628973071.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:11.149Z,1628973071.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:11.149Z,1628973071.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:11.150Z,1628973071.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:11.555Z,1628973071.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,012BB,189,80,80,42,FF
2021-08-14T20:31:11.556Z,1628973071.556 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:11.557Z,1628973071.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:11.565Z,1628973071.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:11.957Z,1628973071.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:12.784Z,1628973072.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,012BA,185,80,80,48,FF
2021-08-14T20:31:12.786Z,1628973072.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:12.808Z,1628973072.808 [Micromodem](INFO): Nmea in: $SNTTA,0.169097,,,,203113.58*4F

2021-08-14T20:31:13.205Z,1628973073.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.139999 m, bearing: 321.934874 deg, deltaT: 4.542507 s, approachRate: -0.013205 m/s, LOS rate: -6.024132 deg/s, posRepo size: 4
2021-08-14T20:31:13.207Z,1628973073.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.139999 m,
      bearing: 321.934874 deg,
      approachRate: -0.013205 m/s,
      LOS rate: -6.024132 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 349.299535 deg,
      new cmd heading: 349.299535 deg.

2021-08-14T20:31:15.653Z,1628973075.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:15.998Z,1628973075.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:15.998Z,1628973075.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:15.998Z,1628973075.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:15.999Z,1628973075.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:16.401Z,1628973076.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,012BA,185,80,80,48,FF
2021-08-14T20:31:16.401Z,1628973076.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:16.401Z,1628973076.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:16.403Z,1628973076.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:16.846Z,1628973076.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:17.641Z,1628973077.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4FC,000,012B0,189,80,80,78,FF
2021-08-14T20:31:17.641Z,1628973077.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:17.644Z,1628973077.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203118.42*51

2021-08-14T20:31:18.058Z,1628973078.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.539993 m, bearing: 284.611660 deg, deltaT: 4.850494 s, approachRate: -0.123700 m/s, LOS rate: -7.694724 deg/s, posRepo size: 4
2021-08-14T20:31:18.060Z,1628973078.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.539993 m,
      bearing: 284.611660 deg,
      approachRate: -0.123700 m/s,
      LOS rate: -7.694724 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.111641 deg,
      new cmd heading: 287.343041 deg.

2021-08-14T20:31:20.470Z,1628973080.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:20.865Z,1628973080.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:20.865Z,1628973080.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:20.865Z,1628973080.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:20.866Z,1628973080.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:21.245Z,1628973081.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4FC,000,012B0,189,80,80,78,FF
2021-08-14T20:31:21.245Z,1628973081.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:21.245Z,1628973081.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:21.247Z,1628973081.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:21.658Z,1628973081.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:22.489Z,1628973082.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42A,000,012B7,18A,80,80,4F,FF
2021-08-14T20:31:22.489Z,1628973082.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:22.492Z,1628973082.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203123.26*5B

2021-08-14T20:31:22.941Z,1628973082.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.959991 m, bearing: 279.167726 deg, deltaT: 4.762512 s, approachRate: 0.088188 m/s, LOS rate: -1.143080 deg/s, posRepo size: 4
2021-08-14T20:31:22.943Z,1628973082.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.959991 m,
      bearing: 279.167726 deg,
      approachRate: 0.088188 m/s,
      LOS rate: -1.143080 deg/s,
      cmd update: -4.572322 deg/s,
      cmd heading: 233.943268 deg,
      new cmd heading: 228.752319 deg.

2021-08-14T20:31:25.315Z,1628973085.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:25.695Z,1628973085.695 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:25.695Z,1628973085.695 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:25.696Z,1628973085.696 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:25.697Z,1628973085.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:26.101Z,1628973086.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42A,000,012B7,18A,80,80,4F,FF
2021-08-14T20:31:26.101Z,1628973086.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:26.101Z,1628973086.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:26.103Z,1628973086.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:26.505Z,1628973086.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:27.325Z,1628973087.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,012A9,189,80,80,41,FF
2021-08-14T20:31:27.325Z,1628973087.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:27.329Z,1628973087.329 [Micromodem](INFO): Nmea in: $SNTTA,0.165624,,,,203128.12*4B

2021-08-14T20:31:27.770Z,1628973087.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.119995 m, bearing: 250.003611 deg, deltaT: 4.837708 s, approachRate: -0.173635 m/s, LOS rate: -6.028499 deg/s, posRepo size: 4
2021-08-14T20:31:27.788Z,1628973087.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.119995 m,
      bearing: 250.003611 deg,
      approachRate: -0.173635 m/s,
      LOS rate: -6.028499 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 211.825339 deg,
      new cmd heading: 209.881540 deg.

2021-08-14T20:31:30.173Z,1628973090.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:30.537Z,1628973090.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:30.538Z,1628973090.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:30.538Z,1628973090.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:30.542Z,1628973090.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:30.950Z,1628973090.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,012A9,189,80,80,41,FF
2021-08-14T20:31:30.951Z,1628973090.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:30.951Z,1628973090.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:30.954Z,1628973090.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:31.345Z,1628973091.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:32.173Z,1628973092.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01284,189,80,80,7F,FF
2021-08-14T20:31:32.174Z,1628973092.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:32.177Z,1628973092.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203132.97*51

2021-08-14T20:31:32.625Z,1628973092.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.899994 m, bearing: 232.004751 deg, deltaT: 4.869670 s, approachRate: -0.455883 m/s, LOS rate: -3.696115 deg/s, posRepo size: 4
2021-08-14T20:31:32.627Z,1628973092.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.899994 m,
      bearing: 232.004751 deg,
      approachRate: -0.455883 m/s,
      LOS rate: -3.696115 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.653165 deg,
      new cmd heading: 148.469717 deg.

2021-08-14T20:31:35.053Z,1628973095.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:35.385Z,1628973095.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:35.385Z,1628973095.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:35.385Z,1628973095.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:35.386Z,1628973095.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:35.790Z,1628973095.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01284,189,80,80,7F,FF
2021-08-14T20:31:35.790Z,1628973095.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:35.790Z,1628973095.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:35.793Z,1628973095.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:36.205Z,1628973096.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:37.003Z,1628973097.003 [Micromodem](INFO): Nmea in: $SNTTA,0.438895,0.399915,,,203137.81*56

2021-08-14T20:31:37.851Z,1628973097.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:39.434Z,1628973099.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,7F,FF
2021-08-14T20:31:39.435Z,1628973099.435 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,7F,FF
2021-08-14T20:31:39.435Z,1628973099.435 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:31:40.729Z,1628973100.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:41.049Z,1628973101.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:41.049Z,1628973101.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:41.049Z,1628973101.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:41.050Z,1628973101.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:41.449Z,1628973101.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,7F,FF
2021-08-14T20:31:41.449Z,1628973101.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:41.449Z,1628973101.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:41.451Z,1628973101.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:41.859Z,1628973101.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:42.681Z,1628973102.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,323,000,01222,189,80,80,8B,FF
2021-08-14T20:31:42.681Z,1628973102.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:42.708Z,1628973102.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203143.47*5A

2021-08-14T20:31:43.135Z,1628973103.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.019989 m, bearing: 218.826721 deg, deltaT: 10.609861 s, approachRate: -0.554202 m/s, LOS rate: -1.242055 deg/s, posRepo size: 4
2021-08-14T20:31:43.139Z,1628973103.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.019989 m,
      bearing: 218.826721 deg,
      approachRate: -0.554202 m/s,
      LOS rate: -1.242055 deg/s,
      cmd update: -4.968220 deg/s,
      cmd heading: 26.748254 deg,
      new cmd heading: 22.359206 deg.

2021-08-14T20:31:45.515Z,1628973105.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:45.893Z,1628973105.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:45.893Z,1628973105.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:45.893Z,1628973105.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:45.894Z,1628973105.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:46.297Z,1628973106.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
323,000,01222,189,80,80,8B,FF
2021-08-14T20:31:46.297Z,1628973106.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:46.297Z,1628973106.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:46.299Z,1628973106.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:46.709Z,1628973106.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:47.545Z,1628973107.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47C,000,011E7,189,80,80,8C,FF
2021-08-14T20:31:47.545Z,1628973107.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:47.548Z,1628973107.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203148.32*53

2021-08-14T20:31:47.970Z,1628973107.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.479996 m, bearing: 217.673034 deg, deltaT: 4.784808 s, approachRate: -0.739840 m/s, LOS rate: -0.241115 deg/s, posRepo size: 4
2021-08-14T20:31:47.973Z,1628973107.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.479996 m,
      bearing: 217.673034 deg,
      approachRate: -0.739840 m/s,
      LOS rate: -0.241115 deg/s,
      cmd update: -0.964459 deg/s,
      cmd heading: 2.714207 deg,
      new cmd heading: 0.902173 deg.

2021-08-14T20:31:50.348Z,1628973110.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:50.746Z,1628973110.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:50.746Z,1628973110.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:50.746Z,1628973110.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:50.746Z,1628973110.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:51.137Z,1628973111.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47C,000,011E7,189,80,80,8C,FF
2021-08-14T20:31:51.137Z,1628973111.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:51.138Z,1628973111.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:51.139Z,1628973111.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:51.557Z,1628973111.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:52.373Z,1628973112.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,011BF,189,80,80,92,FF
2021-08-14T20:31:52.374Z,1628973112.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:52.376Z,1628973112.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203153.16*5F

2021-08-14T20:31:52.839Z,1628973112.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.080002 m, bearing: 330.046926 deg, deltaT: 4.810357 s, approachRate: -0.498922 m/s, LOS rate: 23.360821 deg/s, posRepo size: 4
2021-08-14T20:31:52.844Z,1628973112.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.360821 deg/s. Setting heading cmd to target bearing of 330.046926deg and heading rate command to 0 deg/s.
2021-08-14T20:31:55.251Z,1628973115.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:31:55.602Z,1628973115.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:31:55.602Z,1628973115.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:31:55.602Z,1628973115.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:31:55.603Z,1628973115.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:31:55.985Z,1628973115.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,011BF,189,80,80,92,FF
2021-08-14T20:31:55.986Z,1628973115.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:31:55.986Z,1628973115.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:31:55.987Z,1628973115.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:31:56.396Z,1628973116.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:31:57.225Z,1628973117.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011A3,189,80,80,9E,FF
2021-08-14T20:31:57.225Z,1628973117.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:31:57.229Z,1628973117.229 [Micromodem](INFO): Nmea in: $SNTTA,0.301459,,,,203158.00*47

2021-08-14T20:31:57.691Z,1628973117.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.399994 m, bearing: 252.972967 deg, deltaT: 4.823792 s, approachRate: -0.348275 m/s, LOS rate: -15.977877 deg/s, posRepo size: 4
2021-08-14T20:31:57.691Z,1628973117.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.977877 deg/s. Setting heading cmd to target bearing of 252.972967deg and heading rate command to 0 deg/s.
2021-08-14T20:32:00.062Z,1628973120.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:00.434Z,1628973120.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:00.434Z,1628973120.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:00.434Z,1628973120.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:00.435Z,1628973120.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:00.873Z,1628973120.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011A3,189,80,80,9E,FF
2021-08-14T20:32:00.873Z,1628973120.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:00.873Z,1628973120.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:00.875Z,1628973120.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:01.257Z,1628973121.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:02.056Z,1628973122.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,017,000,011A3,183,80,80,23,FF
2021-08-14T20:32:02.057Z,1628973122.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:02.065Z,1628973122.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203202.89*5E

2021-08-14T20:32:02.493Z,1628973122.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.399994 m, bearing: 332.185840 deg, deltaT: 4.864364 s, approachRate: 0.000000 m/s, LOS rate: 16.284322 deg/s, posRepo size: 4
2021-08-14T20:32:02.493Z,1628973122.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.284322 deg/s. Setting heading cmd to target bearing of 332.185840deg and heading rate command to 0 deg/s.
2021-08-14T20:32:04.965Z,1628973124.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:05.281Z,1628973125.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:05.281Z,1628973125.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:05.281Z,1628973125.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:05.282Z,1628973125.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:05.339Z,1628973125.339 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-14T20:32:05.339Z,1628973125.339 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-14T20:32:05.339Z,1628973125.339 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-14T20:32:05.339Z,1628973125.339 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T20:32:05.339Z,1628973125.339 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-14T20:32:05.737Z,1628973125.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
017,000,011A3,183,80,80,23,FF
2021-08-14T20:32:05.737Z,1628973125.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:05.737Z,1628973125.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:05.739Z,1628973125.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:06.140Z,1628973126.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:06.339Z,1628973126.339 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761330000005D00000400260000000000000000151D80030C5669C08C79983FFB08F75FD726E543C9E5E580E5FA20F5AE79ACC7BFCD78AD5400
2021-08-14T20:32:06.340Z,1628973126.340 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T20:32:06.595Z,1628973126.595 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T20:32:06.993Z,1628973126.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D7,000,01194,189,80,80,8C,FF
2021-08-14T20:32:06.995Z,1628973126.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:06.999Z,1628973126.999 [Micromodem](INFO): Nmea in: $CADRQ,203208,1,10,0,64,1*7D

2021-08-14T20:32:06.999Z,1628973126.999 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761330000005D00000400260000000000000000151D80030C5669C08C79983FFB08F75FD726E543C9E5E580E5FA20F5AE79ACC7BFCD78AD5400*44

2021-08-14T20:32:07.393Z,1628973127.393 [Micromodem](INFO): Nmea in: $SNTTA,0.157389,,,,203207.76*44

2021-08-14T20:32:07.394Z,1628973127.394 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.157389,,,,203207.76*44

2021-08-14T20:32:07.684Z,1628973127.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.500000 m, bearing: 259.693682 deg, deltaT: 5.051121 s, approachRate: -0.178177 m/s, LOS rate: -14.351698 deg/s, posRepo size: 4
2021-08-14T20:32:07.685Z,1628973127.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.351698 deg/s. Setting heading cmd to target bearing of 259.693682deg and heading rate command to 0 deg/s.
2021-08-14T20:32:08.669Z,1628973128.669 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T20:32:09.073Z,1628973129.073 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T20:32:09.489Z,1628973129.489 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T20:32:09.867Z,1628973129.867 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,203209.037996,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-14T20:32:09.919Z,1628973129.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:10.265Z,1628973130.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:10.265Z,1628973130.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:10.265Z,1628973130.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:10.266Z,1628973130.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:10.669Z,1628973130.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D7,000,01194,189,80,80,8C,FF
2021-08-14T20:32:10.669Z,1628973130.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:10.669Z,1628973130.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:10.671Z,1628973130.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:11.084Z,1628973131.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:11.918Z,1628973131.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203212.69*51

2021-08-14T20:32:12.303Z,1628973132.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,029FA,18A,80,80,93,FF
2021-08-14T20:32:12.303Z,1628973132.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:12.841Z,1628973132.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 607.260010 m, bearing: 244.823213 deg, deltaT: 5.186132 s, approachRate: 72.261948 m/s, LOS rate: -2.867353 deg/s, posRepo size: 4
2021-08-14T20:32:12.843Z,1628973132.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 607.260010 m,
      bearing: 244.823213 deg,
      approachRate: 72.261948 m/s,
      LOS rate: -2.867353 deg/s,
      cmd update: -11.469411 deg/s,
      cmd heading: 259.693682 deg,
      new cmd heading: 259.693682 deg.

2021-08-14T20:32:14.979Z,1628973134.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:15.221Z,1628973135.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:15.222Z,1628973135.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:15.222Z,1628973135.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:15.223Z,1628973135.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:15.637Z,1628973135.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,029FA,18A,80,80,93,FF
2021-08-14T20:32:15.637Z,1628973135.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:15.638Z,1628973135.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:15.640Z,1628973135.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:16.028Z,1628973136.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:16.877Z,1628973136.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01165,188,80,80,8A,FF
2021-08-14T20:32:16.878Z,1628973136.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:16.881Z,1628973136.881 [Micromodem](INFO): Nmea in: $SNTTA,0.155559,,,,203217.66*4D

2021-08-14T20:32:17.278Z,1628973137.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.679993 m, bearing: 234.928946 deg, deltaT: 4.633635 s, approachRate: -81.486786 m/s, LOS rate: -2.135314 deg/s, posRepo size: 4
2021-08-14T20:32:17.281Z,1628973137.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.679993 m,
      bearing: 234.928946 deg,
      approachRate: -81.486786 m/s,
      LOS rate: -2.135314 deg/s,
      cmd update: -8.541257 deg/s,
      cmd heading: 206.275957 deg,
      new cmd heading: 202.844779 deg.

2021-08-14T20:32:19.730Z,1628973139.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:20.073Z,1628973140.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:20.073Z,1628973140.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:20.073Z,1628973140.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:20.074Z,1628973140.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:20.485Z,1628973140.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01165,188,80,80,8A,FF
2021-08-14T20:32:20.485Z,1628973140.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:20.485Z,1628973140.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:20.487Z,1628973140.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:20.872Z,1628973140.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:21.705Z,1628973141.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01144,189,80,80,97,FF
2021-08-14T20:32:21.706Z,1628973141.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:21.709Z,1628973141.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203222.51*59

2021-08-14T20:32:22.126Z,1628973142.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.699982 m, bearing: 216.085575 deg, deltaT: 4.755021 s, approachRate: -0.416404 m/s, LOS rate: -3.962837 deg/s, posRepo size: 4
2021-08-14T20:32:22.129Z,1628973142.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.699982 m,
      bearing: 216.085575 deg,
      approachRate: -0.416404 m/s,
      LOS rate: -3.962837 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 165.660326 deg,
      new cmd heading: 162.311624 deg.

2021-08-14T20:32:25.027Z,1628973145.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:25.209Z,1628973145.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:25.209Z,1628973145.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:25.209Z,1628973145.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:25.210Z,1628973145.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:25.635Z,1628973145.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01144,189,80,80,97,FF
2021-08-14T20:32:25.635Z,1628973145.635 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:25.635Z,1628973145.635 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:25.637Z,1628973145.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:26.028Z,1628973146.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:26.861Z,1628973146.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,01116,189,80,80,97,FF
2021-08-14T20:32:26.861Z,1628973146.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:26.865Z,1628973146.865 [Micromodem](INFO): Nmea in: $SNTTA,0.476412,0.476412,,,203227.66*58

2021-08-14T20:32:27.384Z,1628973147.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.939987 m, bearing: 219.613682 deg, deltaT: 5.432237 s, approachRate: -0.508077 m/s, LOS rate: 0.649476 deg/s, posRepo size: 4
2021-08-14T20:32:27.386Z,1628973147.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.939987 m,
      bearing: 219.613682 deg,
      approachRate: -0.508077 m/s,
      LOS rate: 0.649476 deg/s,
      cmd update: 2.597903 deg/s,
      cmd heading: 100.522020 deg,
      new cmd heading: 97.866852 deg.

2021-08-14T20:32:29.805Z,1628973149.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:30.161Z,1628973150.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:30.161Z,1628973150.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:30.161Z,1628973150.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:30.162Z,1628973150.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:30.582Z,1628973150.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,01116,189,80,80,97,FF
2021-08-14T20:32:30.583Z,1628973150.583 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:30.583Z,1628973150.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:30.597Z,1628973150.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:30.977Z,1628973150.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:31.829Z,1628973151.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,010D5,189,80,80,9F,FF
2021-08-14T20:32:31.830Z,1628973151.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:32.298Z,1628973152.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.039993 m, bearing: 213.515907 deg, deltaT: 4.691603 s, approachRate: -0.831271 m/s, LOS rate: -1.299721 deg/s, posRepo size: 4
2021-08-14T20:32:32.300Z,1628973152.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.039993 m,
      bearing: 213.515907 deg,
      approachRate: -0.831271 m/s,
      LOS rate: -1.299721 deg/s,
      cmd update: -5.198883 deg/s,
      cmd heading: 112.720761 deg,
      new cmd heading: 113.863574 deg.

2021-08-14T20:32:34.706Z,1628973154.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:35.077Z,1628973155.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:35.077Z,1628973155.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:35.077Z,1628973155.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:35.078Z,1628973155.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:35.485Z,1628973155.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,010D5,189,80,80,9F,FF
2021-08-14T20:32:35.485Z,1628973155.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:35.485Z,1628973155.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:35.487Z,1628973155.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:35.889Z,1628973155.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:36.286Z,1628973156.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,009CD,186,80,80,AA,FF
2021-08-14T20:32:36.286Z,1628973156.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:36.709Z,1628973156.709 [Micromodem](INFO): Nmea in: $SNTTA,0.151654,,,,203237.51*41

2021-08-14T20:32:36.735Z,1628973156.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.040001 m, bearing: 216.208463 deg, deltaT: 4.445605 s, approachRate: -24.293655 m/s, LOS rate: 0.605667 deg/s, posRepo size: 4
2021-08-14T20:32:36.737Z,1628973156.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.040001 m,
      bearing: 216.208463 deg,
      approachRate: -24.293655 m/s,
      LOS rate: 0.605667 deg/s,
      cmd update: 2.422668 deg/s,
      cmd heading: 89.608574 deg,
      new cmd heading: 87.365547 deg.

2021-08-14T20:32:38.846Z,1628973158.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:39.149Z,1628973159.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:39.149Z,1628973159.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:39.149Z,1628973159.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:39.150Z,1628973159.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:39.562Z,1628973159.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,009CD,186,80,80,AA,FF
2021-08-14T20:32:39.563Z,1628973159.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:39.563Z,1628973159.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:39.570Z,1628973159.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:40.099Z,1628973160.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:40.485Z,1628973160.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,01060,187,80,80,A6,FF
2021-08-14T20:32:40.486Z,1628973160.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:40.897Z,1628973160.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203241.59*54

2021-08-14T20:32:40.978Z,1628973160.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.019989 m, bearing: 214.242612 deg, deltaT: 4.283480 s, approachRate: 23.574287 m/s, LOS rate: -0.458938 deg/s, posRepo size: 4
2021-08-14T20:32:40.980Z,1628973160.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.019989 m,
      bearing: 214.242612 deg,
      approachRate: 23.574287 m/s,
      LOS rate: -0.458938 deg/s,
      cmd update: -1.835752 deg/s,
      cmd heading: 99.902039 deg,
      new cmd heading: 100.933555 deg.

2021-08-14T20:32:43.369Z,1628973163.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:43.725Z,1628973163.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:43.725Z,1628973163.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:43.725Z,1628973163.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:43.726Z,1628973163.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:44.145Z,1628973164.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,01060,187,80,80,A6,FF
2021-08-14T20:32:44.145Z,1628973164.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:44.145Z,1628973164.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:44.147Z,1628973164.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:44.543Z,1628973164.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:44.943Z,1628973164.943 [Micromodem](INFO): Nmea in: $SNTTA,0.142439,0.259912,,,203246.17*54

2021-08-14T20:32:45.337Z,1628973165.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,01026,189,80,80,97,FF
2021-08-14T20:32:45.337Z,1628973165.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:46.000Z,1628973166.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.539993 m, bearing: 217.231872 deg, deltaT: 4.824350 s, approachRate: -0.721340 m/s, LOS rate: 0.619619 deg/s, posRepo size: 4
2021-08-14T20:32:46.002Z,1628973166.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.539993 m,
      bearing: 217.231872 deg,
      approachRate: -0.721340 m/s,
      LOS rate: 0.619619 deg/s,
      cmd update: 2.478477 deg/s,
      cmd heading: 90.991690 deg,
      new cmd heading: 89.901881 deg.

2021-08-14T20:32:48.250Z,1628973168.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:48.640Z,1628973168.640 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:48.640Z,1628973168.640 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:48.641Z,1628973168.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:48.642Z,1628973168.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:49.017Z,1628973169.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,01026,189,80,80,97,FF
2021-08-14T20:32:49.017Z,1628973169.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:49.017Z,1628973169.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:49.019Z,1628973169.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:49.416Z,1628973169.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:50.273Z,1628973170.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD5,000,00FEF,188,80,80,98,FF
2021-08-14T20:32:50.273Z,1628973170.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:50.296Z,1628973170.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203251.04*5D

2021-08-14T20:32:50.735Z,1628973170.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.239990 m, bearing: 222.315431 deg, deltaT: 4.924703 s, approachRate: -0.670092 m/s, LOS rate: 1.032257 deg/s, posRepo size: 4
2021-08-14T20:32:50.739Z,1628973170.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.239990 m,
      bearing: 222.315431 deg,
      approachRate: -0.670092 m/s,
      LOS rate: 1.032257 deg/s,
      cmd update: 4.129028 deg/s,
      cmd heading: 103.200308 deg,
      new cmd heading: 104.192777 deg.

2021-08-14T20:32:53.191Z,1628973173.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:53.533Z,1628973173.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:53.533Z,1628973173.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:53.533Z,1628973173.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:53.534Z,1628973173.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:53.901Z,1628973173.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD5,000,00FEF,188,80,80,98,FF
2021-08-14T20:32:53.901Z,1628973173.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:53.901Z,1628973173.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:53.903Z,1628973173.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:54.313Z,1628973174.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:32:55.117Z,1628973175.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00FC4,18A,80,80,BB,FF
2021-08-14T20:32:55.118Z,1628973175.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:32:55.121Z,1628973175.121 [Micromodem](INFO): Nmea in: $SNTTA,0.382549,0.382855,,,203255.92*56

2021-08-14T20:32:55.598Z,1628973175.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.659988 m, bearing: 214.385418 deg, deltaT: 4.864008 s, approachRate: -0.530427 m/s, LOS rate: -1.630345 deg/s, posRepo size: 4
2021-08-14T20:32:55.607Z,1628973175.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.659988 m,
      bearing: 214.385418 deg,
      approachRate: -0.530427 m/s,
      LOS rate: -1.630345 deg/s,
      cmd update: -6.521382 deg/s,
      cmd heading: 123.284029 deg,
      new cmd heading: 124.944828 deg.

2021-08-14T20:32:58.066Z,1628973178.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:32:58.418Z,1628973178.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:32:58.418Z,1628973178.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:32:58.418Z,1628973178.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:32:58.419Z,1628973178.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:32:58.929Z,1628973178.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00FC4,18A,80,80,BB,FF
2021-08-14T20:32:58.929Z,1628973178.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:32:58.930Z,1628973178.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:32:58.931Z,1628973178.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:32:59.336Z,1628973179.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:00.169Z,1628973180.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,00FA3,189,80,80,99,FF
2021-08-14T20:33:00.170Z,1628973180.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:00.172Z,1628973180.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203300.95*50

2021-08-14T20:33:00.614Z,1628973180.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.679977 m, bearing: 165.051330 deg, deltaT: 5.011895 s, approachRate: -0.395062 m/s, LOS rate: -9.843400 deg/s, posRepo size: 4
2021-08-14T20:33:00.620Z,1628973180.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.679977 m,
      bearing: 165.051330 deg,
      approachRate: -0.395062 m/s,
      LOS rate: -9.843400 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 90.599901 deg,
      new cmd heading: 87.954209 deg.

2021-08-14T20:33:02.845Z,1628973182.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:03.013Z,1628973183.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:03.013Z,1628973183.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:03.013Z,1628973183.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:03.014Z,1628973183.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:03.410Z,1628973183.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,00FA3,189,80,80,99,FF
2021-08-14T20:33:03.410Z,1628973183.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:03.410Z,1628973183.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:03.413Z,1628973183.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:03.812Z,1628973183.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:04.645Z,1628973184.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00F98,185,80,80,96,FF
2021-08-14T20:33:04.646Z,1628973184.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:04.649Z,1628973184.649 [Micromodem](INFO): Nmea in: $SNTTA,0.137098,,,,203305.43*44

2021-08-14T20:33:05.172Z,1628973185.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.019989 m, bearing: 136.030935 deg, deltaT: 4.748901 s, approachRate: -0.138977 m/s, LOS rate: -6.110971 deg/s, posRepo size: 4
2021-08-14T20:33:05.174Z,1628973185.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.019989 m,
      bearing: 136.030935 deg,
      approachRate: -0.138977 m/s,
      LOS rate: -6.110971 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 33.566983 deg,
      new cmd heading: 31.033843 deg.

2021-08-14T20:33:07.612Z,1628973187.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:07.949Z,1628973187.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:07.949Z,1628973187.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:07.949Z,1628973187.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:07.950Z,1628973187.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:08.361Z,1628973188.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00F98,185,80,80,96,FF
2021-08-14T20:33:08.361Z,1628973188.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:08.361Z,1628973188.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:08.363Z,1628973188.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:08.798Z,1628973188.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:09.223Z,1628973189.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,00F9E,185,80,80,96,FF
2021-08-14T20:33:09.224Z,1628973189.224 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:09.657Z,1628973189.657 [Micromodem](INFO): Nmea in: $SNTTA,0.134514,,,,203310.38*4E

2021-08-14T20:33:09.694Z,1628973189.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.380005 m, bearing: 83.705348 deg, deltaT: 4.301736 s, approachRate: 0.083691 m/s, LOS rate: -12.163830 deg/s, posRepo size: 4
2021-08-14T20:33:09.695Z,1628973189.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.163830 deg/s. Setting heading cmd to target bearing of 83.705348deg and heading rate command to 0 deg/s.
2021-08-14T20:33:11.346Z,1628973191.346 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-14T20:33:11.930Z,1628973191.930 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 00FB1761330000005D00000400260000000000000000151D80030C5669C08C79983FFB08F75FD726E543C9E5E580E5FA20F5AE79ACC7BFCD78AD5400
2021-08-14T20:33:11.930Z,1628973191.930 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-14T20:33:12.006Z,1628973192.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:12.189Z,1628973192.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:12.189Z,1628973192.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:12.189Z,1628973192.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:12.190Z,1628973192.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:12.195Z,1628973192.195 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-14T20:33:12.600Z,1628973192.600 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,00F9E,185,80,80,96,FF
2021-08-14T20:33:12.600Z,1628973192.600 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:12.601Z,1628973192.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:12.602Z,1628973192.602 [Micromodem](INFO): Nmea in: $CADRQ,203313,1,10,0,64,1*76

2021-08-14T20:33:12.603Z,1628973192.603 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,00FB1761330000005D00000400260000000000000000151D80030C5669C08C79983FFB08F75FD726E543C9E5E580E5FA20F5AE79ACC7BFCD78AD5400*44

2021-08-14T20:33:12.992Z,1628973192.992 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-14T20:33:12.993Z,1628973192.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:13.394Z,1628973193.394 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-14T20:33:13.394Z,1628973193.394 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-14T20:33:14.654Z,1628973194.654 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-14T20:33:14.654Z,1628973194.654 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-14T20:33:14.695Z,1628973194.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:15.015Z,1628973195.015 [Micromodem](INFO): Nmea in: $CAXST,7,20210814,203314.640467,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T20:33:15.015Z,1628973195.015 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210814,203314.640467,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-14T20:33:17.074Z,1628973197.074 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-14T20:33:17.075Z,1628973197.075 [Micromodem](INFO): Sent 52 bytes from file Logs/20210814T171856/Courier0051.lzma.parts
2021-08-14T20:33:17.075Z,1628973197.075 [Micromodem](INFO): Packets left to send: 0
2021-08-14T20:33:17.505Z,1628973197.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:17.658Z,1628973197.658 [Micromodem](INFO): Nmea in: $CACST,6,0,20210814203317.739959,06,7080,38,0146,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,8.5,5.18,10,-2.18,-01,0.49,48,14500,4000*66

2021-08-14T20:33:17.658Z,1628973197.658 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210814203317.739959,06,7080,38,0146,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,8.5,5.18,10,-2.18,-01,0.49,48,14500,4000*66

2021-08-14T20:33:17.885Z,1628973197.885 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-14T20:33:17.885Z,1628973197.885 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-14T20:33:17.885Z,1628973197.885 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-14T20:33:17.886Z,1628973197.886 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-14T20:33:17.886Z,1628973197.886 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-14T20:33:18.460Z,1628973198.460 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.270049
2021-08-14T20:33:20.098Z,1628973200.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:20.473Z,1628973200.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:20.473Z,1628973200.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:20.473Z,1628973200.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:20.474Z,1628973200.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:20.885Z,1628973200.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,00F9E,185,80,80,96,FF
2021-08-14T20:33:20.885Z,1628973200.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:20.885Z,1628973200.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:22.950Z,1628973202.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:24.115Z,1628973204.115 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:24.504Z,1628973204.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:24.935Z,1628973204.935 [Micromodem](INFO): Nmea in: $SNTTA,0.237780,0.277415,,,203326.13*51

2021-08-14T20:33:25.317Z,1628973205.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,0100F,187,80,80,29,FF
2021-08-14T20:33:25.318Z,1628973205.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:25.769Z,1628973205.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.160004 m, bearing: 72.428350 deg, deltaT: 16.072884 s, approachRate: 0.421828 m/s, LOS rate: -0.701616 deg/s, posRepo size: 4
2021-08-14T20:33:25.771Z,1628973205.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.160004 m,
      bearing: 72.428350 deg,
      approachRate: 0.421828 m/s,
      LOS rate: -0.701616 deg/s,
      cmd update: -2.806465 deg/s,
      cmd heading: 83.705348 deg,
      new cmd heading: 83.705348 deg.

2021-08-14T20:33:28.179Z,1628973208.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:28.576Z,1628973208.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:28.577Z,1628973208.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:28.577Z,1628973208.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:28.578Z,1628973208.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:28.950Z,1628973208.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,0100F,187,80,80,29,FF
2021-08-14T20:33:28.950Z,1628973208.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:28.950Z,1628973208.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:28.953Z,1628973208.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:29.353Z,1628973209.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:30.185Z,1628973210.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,01026,186,80,80,66,FF
2021-08-14T20:33:30.185Z,1628973210.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:30.188Z,1628973210.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203330.97*51

2021-08-14T20:33:30.631Z,1628973210.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.539993 m, bearing: 92.620309 deg, deltaT: 4.906047 s, approachRate: 0.281283 m/s, LOS rate: 4.115729 deg/s, posRepo size: 4
2021-08-14T20:33:30.634Z,1628973210.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.539993 m,
      bearing: 92.620309 deg,
      approachRate: 0.281283 m/s,
      LOS rate: 4.115729 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 69.956613 deg,
      new cmd heading: 68.842600 deg.

2021-08-14T20:33:33.062Z,1628973213.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:33.397Z,1628973213.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:33.397Z,1628973213.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:33.397Z,1628973213.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:33.398Z,1628973213.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:33.801Z,1628973213.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,01026,186,80,80,66,FF
2021-08-14T20:33:33.801Z,1628973213.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:33.801Z,1628973213.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:33.803Z,1628973213.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:34.209Z,1628973214.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:35.029Z,1628973215.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,01057,186,80,80,24,FF
2021-08-14T20:33:35.029Z,1628973215.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:35.056Z,1628973215.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203335.82*50

2021-08-14T20:33:35.482Z,1628973215.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.479996 m, bearing: 98.550703 deg, deltaT: 4.870567 s, approachRate: 0.603626 m/s, LOS rate: 1.217598 deg/s, posRepo size: 4
2021-08-14T20:33:35.489Z,1628973215.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.479996 m,
      bearing: 98.550703 deg,
      approachRate: 0.603626 m/s,
      LOS rate: 1.217598 deg/s,
      cmd update: 4.870393 deg/s,
      cmd heading: 128.440582 deg,
      new cmd heading: 132.858022 deg.

2021-08-14T20:33:37.871Z,1628973217.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:38.237Z,1628973218.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:38.237Z,1628973218.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:38.237Z,1628973218.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:38.238Z,1628973218.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:38.641Z,1628973218.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,01057,186,80,80,24,FF
2021-08-14T20:33:38.641Z,1628973218.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:38.641Z,1628973218.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:38.643Z,1628973218.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:39.062Z,1628973219.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:39.873Z,1628973219.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,01067,186,80,80,8F,FF
2021-08-14T20:33:39.874Z,1628973219.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:39.876Z,1628973219.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203340.66*58

2021-08-14T20:33:40.317Z,1628973220.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.440002 m, bearing: 99.823256 deg, deltaT: 4.839723 s, approachRate: 0.198360 m/s, LOS rate: 0.262939 deg/s, posRepo size: 4
2021-08-14T20:33:40.325Z,1628973220.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.440002 m,
      bearing: 99.823256 deg,
      approachRate: 0.198360 m/s,
      LOS rate: 0.262939 deg/s,
      cmd update: 1.051757 deg/s,
      cmd heading: 152.011676 deg,
      new cmd heading: 153.725523 deg.

2021-08-14T20:33:42.694Z,1628973222.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:43.041Z,1628973223.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:43.041Z,1628973223.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:43.041Z,1628973223.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:43.042Z,1628973223.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:43.449Z,1628973223.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,01067,186,80,80,8F,FF
2021-08-14T20:33:43.449Z,1628973223.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:43.449Z,1628973223.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:43.451Z,1628973223.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:43.885Z,1628973223.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:44.806Z,1628973224.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,0107B,185,80,80,7D,FF
2021-08-14T20:33:44.807Z,1628973224.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:44.858Z,1628973224.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203345.47*5E

2021-08-14T20:33:45.282Z,1628973225.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.639999 m, bearing: 104.985000 deg, deltaT: 4.975786 s, approachRate: 0.241167 m/s, LOS rate: 1.037373 deg/s, posRepo size: 4
2021-08-14T20:33:45.284Z,1628973225.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.639999 m,
      bearing: 104.985000 deg,
      approachRate: 0.241167 m/s,
      LOS rate: 1.037373 deg/s,
      cmd update: 4.149491 deg/s,
      cmd heading: 157.249256 deg,
      new cmd heading: 157.622020 deg.

2021-08-14T20:33:47.730Z,1628973227.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:48.057Z,1628973228.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:48.057Z,1628973228.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:48.057Z,1628973228.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:48.058Z,1628973228.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:48.467Z,1628973228.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,0107B,185,80,80,7D,FF
2021-08-14T20:33:48.467Z,1628973228.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:48.467Z,1628973228.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:48.470Z,1628973228.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:48.473Z,1628973228.473 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T20:33:48.874Z,1628973228.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:48.928Z,1628973228.928 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:33:49.689Z,1628973229.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,01087,189,80,80,75,FF
2021-08-14T20:33:49.689Z,1628973229.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:49.692Z,1628973229.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203350.49*54

2021-08-14T20:33:50.131Z,1628973230.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.359985 m, bearing: 84.717466 deg, deltaT: 4.793124 s, approachRate: 0.150212 m/s, LOS rate: -4.228460 deg/s, posRepo size: 4
2021-08-14T20:33:50.138Z,1628973230.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.359985 m,
      bearing: 84.717466 deg,
      approachRate: 0.150212 m/s,
      LOS rate: -4.228460 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 177.136638 deg,
      new cmd heading: 178.828805 deg.

2021-08-14T20:33:52.518Z,1628973232.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:52.897Z,1628973232.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:52.897Z,1628973232.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:52.897Z,1628973232.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:52.898Z,1628973232.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:53.305Z,1628973233.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,01087,189,80,80,75,FF
2021-08-14T20:33:53.305Z,1628973233.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:53.306Z,1628973233.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:53.307Z,1628973233.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:53.715Z,1628973233.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:54.545Z,1628973234.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,01083,186,80,80,AB,FF
2021-08-14T20:33:54.545Z,1628973234.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:33:54.548Z,1628973234.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203355.33*5C

2021-08-14T20:33:55.019Z,1628973235.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.119995 m, bearing: 162.296332 deg, deltaT: 4.889005 s, approachRate: -0.049088 m/s, LOS rate: 15.868027 deg/s, posRepo size: 4
2021-08-14T20:33:55.024Z,1628973235.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.868027 deg/s. Setting heading cmd to target bearing of 162.296332deg and heading rate command to 0 deg/s.
2021-08-14T20:33:57.378Z,1628973237.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:33:57.749Z,1628973237.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:33:57.749Z,1628973237.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:33:57.749Z,1628973237.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:33:57.750Z,1628973237.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:33:58.154Z,1628973238.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,01083,186,80,80,AB,FF
2021-08-14T20:33:58.154Z,1628973238.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:33:58.154Z,1628973238.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:33:58.156Z,1628973238.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:33:58.604Z,1628973238.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:33:58.967Z,1628973238.967 [Micromodem](INFO): Nmea in: $SNTTA,0.256361,0.214420,,,203400.18*56

2021-08-14T20:34:00.198Z,1628973240.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:01.785Z,1628973241.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,AB,FF
2021-08-14T20:34:01.786Z,1628973241.786 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,AB,FF
2021-08-14T20:34:01.786Z,1628973241.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:34:03.055Z,1628973243.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:03.401Z,1628973243.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:03.401Z,1628973243.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:03.401Z,1628973243.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:03.402Z,1628973243.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:03.801Z,1628973243.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,AB,FF
2021-08-14T20:34:03.802Z,1628973243.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:03.802Z,1628973243.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:03.803Z,1628973243.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:04.213Z,1628973244.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:05.017Z,1628973245.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,01061,189,80,80,90,FF
2021-08-14T20:34:05.017Z,1628973245.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:05.021Z,1628973245.021 [Micromodem](INFO): Nmea in: $SNTTA,0.144702,0.430551,,,203405.82*56

2021-08-14T20:34:05.469Z,1628973245.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.080002 m, bearing: 177.949787 deg, deltaT: 10.482857 s, approachRate: -0.194603 m/s, LOS rate: 1.493243 deg/s, posRepo size: 4
2021-08-14T20:34:05.471Z,1628973245.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 177.949787 deg,
      approachRate: -0.194603 m/s,
      LOS rate: 1.493243 deg/s,
      cmd update: 5.972973 deg/s,
      cmd heading: 162.296332 deg,
      new cmd heading: 162.296332 deg.

2021-08-14T20:34:07.874Z,1628973247.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:08.253Z,1628973248.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:08.253Z,1628973248.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:08.254Z,1628973248.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:08.255Z,1628973248.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:08.657Z,1628973248.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,01061,189,80,80,90,FF
2021-08-14T20:34:08.657Z,1628973248.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:08.657Z,1628973248.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:08.659Z,1628973248.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:09.064Z,1628973249.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:09.889Z,1628973249.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01046,189,80,80,9D,FF
2021-08-14T20:34:09.889Z,1628973249.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:09.893Z,1628973249.893 [Micromodem](INFO): Nmea in: $SNTTA,0.144121,,,,203410.68*49

2021-08-14T20:34:10.298Z,1628973250.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.459991 m, bearing: 228.979223 deg, deltaT: 4.862914 s, approachRate: -0.333136 m/s, LOS rate: 10.493592 deg/s, posRepo size: 4
2021-08-14T20:34:10.300Z,1628973250.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.459991 m,
      bearing: 228.979223 deg,
      approachRate: -0.333136 m/s,
      LOS rate: 10.493592 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.535001 deg,
      new cmd heading: 193.603728 deg.

2021-08-14T20:34:12.729Z,1628973252.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:13.101Z,1628973253.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:13.101Z,1628973253.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:13.101Z,1628973253.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:13.102Z,1628973253.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:13.505Z,1628973253.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01046,189,80,80,9D,FF
2021-08-14T20:34:13.505Z,1628973253.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:13.505Z,1628973253.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:13.507Z,1628973253.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:13.909Z,1628973253.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:14.740Z,1628973254.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,0101A,189,80,80,A3,FF
2021-08-14T20:34:14.741Z,1628973254.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:14.744Z,1628973254.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203415.53*59

2021-08-14T20:34:15.177Z,1628973255.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.819977 m, bearing: 227.454930 deg, deltaT: 4.894368 s, approachRate: -0.539398 m/s, LOS rate: -0.311438 deg/s, posRepo size: 4
2021-08-14T20:34:15.179Z,1628973255.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.819977 m,
      bearing: 227.454930 deg,
      approachRate: -0.539398 m/s,
      LOS rate: -0.311438 deg/s,
      cmd update: -1.245753 deg/s,
      cmd heading: 250.207371 deg,
      new cmd heading: 254.237319 deg.

2021-08-14T20:34:17.623Z,1628973257.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:17.945Z,1628973257.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:17.945Z,1628973257.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:17.945Z,1628973257.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:17.946Z,1628973257.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:18.354Z,1628973258.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,0101A,189,80,80,A3,FF
2021-08-14T20:34:18.354Z,1628973258.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:18.354Z,1628973258.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:18.356Z,1628973258.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:18.771Z,1628973258.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:19.616Z,1628973259.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00FE7,189,80,80,A2,FF
2021-08-14T20:34:19.617Z,1628973259.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:19.636Z,1628973259.636 [Micromodem](INFO): Nmea in: $SNTTA,,0.115640,,,203420.38*4B

2021-08-14T20:34:20.002Z,1628973260.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.759979 m, bearing: 176.836084 deg, deltaT: 4.835816 s, approachRate: -0.632778 m/s, LOS rate: -10.467488 deg/s, posRepo size: 4
2021-08-14T20:34:20.005Z,1628973260.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.759979 m,
      bearing: 176.836084 deg,
      approachRate: -0.632778 m/s,
      LOS rate: -10.467488 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.171877 deg,
      new cmd heading: 243.777462 deg.

2021-08-14T20:34:20.996Z,1628973260.996 [ThrusterServo](FAULT): Invalid EZ Servo response:"\377\230\325242"
2021-08-14T20:34:20.997Z,1628973260.997 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-14T20:34:20.997Z,1628973260.997 [ThrusterServo](ERROR): Communications Fault
2021-08-14T20:34:21.001Z,1628973261.001 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-14T20:34:21.346Z,1628973261.346 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-14T20:34:21.346Z,1628973261.346 [ThrusterServo](INFO): Powering down
2021-08-14T20:34:22.109Z,1628973262.109 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-14T20:34:22.229Z,1628973262.229 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-14T20:34:22.235Z,1628973262.235 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-14T20:34:22.235Z,1628973262.235 [ThrusterServo] No Fault, FailCount= 1
2021-08-14T20:34:22.421Z,1628973262.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:22.822Z,1628973262.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:22.822Z,1628973262.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:22.822Z,1628973262.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:22.823Z,1628973262.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:23.197Z,1628973263.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00FE7,189,80,80,A2,FF
2021-08-14T20:34:23.197Z,1628973263.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:23.197Z,1628973263.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:23.199Z,1628973263.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:23.641Z,1628973263.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:24.430Z,1628973264.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00FAE,184,80,80,B1,FF
2021-08-14T20:34:24.431Z,1628973264.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:24.435Z,1628973264.435 [Micromodem](INFO): Nmea in: $SNTTA,0.138096,,,,203425.22*47

2021-08-14T20:34:24.948Z,1628973264.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.339981 m, bearing: 229.869853 deg, deltaT: 4.820261 s, approachRate: -0.709505 m/s, LOS rate: 11.002261 deg/s, posRepo size: 4
2021-08-14T20:34:24.950Z,1628973264.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 229.869853 deg,
      approachRate: -0.709505 m/s,
      LOS rate: 11.002261 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 186.449475 deg,
      new cmd heading: 181.078275 deg.

2021-08-14T20:34:27.271Z,1628973267.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:27.645Z,1628973267.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:27.645Z,1628973267.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:27.645Z,1628973267.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:27.646Z,1628973267.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:28.045Z,1628973268.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00FAE,184,80,80,B1,FF
2021-08-14T20:34:28.045Z,1628973268.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:28.045Z,1628973268.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:28.047Z,1628973268.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:28.456Z,1628973268.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:28.871Z,1628973268.871 [Micromodem](INFO): Nmea in: $SNTTA,0.135672,0.268740,,,203430.07*54

2021-08-14T20:34:29.265Z,1628973269.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,00F7C,184,80,80,A1,FF
2021-08-14T20:34:29.266Z,1628973269.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:29.714Z,1628973269.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.339981 m, bearing: 228.976382 deg, deltaT: 4.786969 s, approachRate: -0.626701 m/s, LOS rate: -0.186646 deg/s, posRepo size: 4
2021-08-14T20:34:29.716Z,1628973269.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 228.976382 deg,
      approachRate: -0.626701 m/s,
      LOS rate: -0.186646 deg/s,
      cmd update: -0.746586 deg/s,
      cmd heading: 244.006228 deg,
      new cmd heading: 249.066472 deg.

2021-08-14T20:34:32.114Z,1628973272.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:32.497Z,1628973272.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:32.497Z,1628973272.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:32.497Z,1628973272.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:32.498Z,1628973272.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:32.897Z,1628973272.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00F7C,184,80,80,A1,FF
2021-08-14T20:34:32.897Z,1628973272.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:32.898Z,1628973272.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:32.899Z,1628973272.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:33.309Z,1628973273.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:34.145Z,1628973274.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00F43,187,80,80,A0,FF
2021-08-14T20:34:34.145Z,1628973274.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:34.148Z,1628973274.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203434.92*57

2021-08-14T20:34:34.549Z,1628973274.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.919983 m, bearing: 230.545686 deg, deltaT: 4.870432 s, approachRate: -0.702196 m/s, LOS rate: 0.322210 deg/s, posRepo size: 4
2021-08-14T20:34:34.551Z,1628973274.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.919983 m,
      bearing: 230.545686 deg,
      approachRate: -0.702196 m/s,
      LOS rate: 0.322210 deg/s,
      cmd update: 1.288842 deg/s,
      cmd heading: 240.369747 deg,
      new cmd heading: 240.082264 deg.

2021-08-14T20:34:37.006Z,1628973277.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:37.361Z,1628973277.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:37.361Z,1628973277.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:37.361Z,1628973277.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:37.362Z,1628973277.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:37.741Z,1628973277.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00F43,187,80,80,A0,FF
2021-08-14T20:34:37.741Z,1628973277.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:37.741Z,1628973277.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:37.743Z,1628973277.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:38.163Z,1628973278.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:38.598Z,1628973278.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00F03,183,80,80,A0,FF
2021-08-14T20:34:38.598Z,1628973278.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:38.615Z,1628973278.615 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:34:38.985Z,1628973278.985 [Micromodem](INFO): Nmea in: $SNTTA,0.421519,0.421537,,,203439.76*5C

2021-08-14T20:34:39.021Z,1628973279.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.080002 m, bearing: 230.400312 deg, deltaT: 4.484886 s, approachRate: -0.856205 m/s, LOS rate: -0.032414 deg/s, posRepo size: 4
2021-08-14T20:34:39.023Z,1628973279.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.080002 m,
      bearing: 230.400312 deg,
      approachRate: -0.856205 m/s,
      LOS rate: -0.032414 deg/s,
      cmd update: -0.129657 deg/s,
      cmd heading: 246.145079 deg,
      new cmd heading: 246.630139 deg.

2021-08-14T20:34:41.423Z,1628973281.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:41.781Z,1628973281.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:41.781Z,1628973281.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:41.782Z,1628973281.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:41.783Z,1628973281.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:42.186Z,1628973282.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00F03,183,80,80,A0,FF
2021-08-14T20:34:42.187Z,1628973282.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:42.187Z,1628973282.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:42.191Z,1628973282.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:42.641Z,1628973282.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:43.418Z,1628973283.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00EC9,185,80,80,A4,FF
2021-08-14T20:34:43.418Z,1628973283.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:43.423Z,1628973283.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203444.21*58

2021-08-14T20:34:43.871Z,1628973283.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.599991 m, bearing: 229.047880 deg, deltaT: 4.797747 s, approachRate: -0.725343 m/s, LOS rate: -0.281889 deg/s, posRepo size: 4
2021-08-14T20:34:43.877Z,1628973283.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.599991 m,
      bearing: 229.047880 deg,
      approachRate: -0.725343 m/s,
      LOS rate: -0.281889 deg/s,
      cmd update: -1.127556 deg/s,
      cmd heading: 245.522523 deg,
      new cmd heading: 245.467370 deg.

2021-08-14T20:34:46.284Z,1628973286.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:46.645Z,1628973286.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:46.645Z,1628973286.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:46.645Z,1628973286.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:46.646Z,1628973286.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:47.037Z,1628973287.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00EC9,185,80,80,A4,FF
2021-08-14T20:34:47.037Z,1628973287.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:47.037Z,1628973287.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:47.039Z,1628973287.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:47.449Z,1628973287.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:47.856Z,1628973287.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00EC9,185,80,80,A4,FF
2021-08-14T20:34:47.857Z,1628973287.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:48.289Z,1628973288.289 [Micromodem](INFO): Nmea in: $SNTTA,0.123485,,,,203449.06*47

2021-08-14T20:34:48.312Z,1628973288.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.599991 m, bearing: 228.177632 deg, deltaT: 4.491372 s, approachRate: 0.000000 m/s, LOS rate: -0.193760 deg/s, posRepo size: 4
2021-08-14T20:34:48.314Z,1628973288.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.599991 m,
      bearing: 228.177632 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.193760 deg/s,
      cmd update: -0.775040 deg/s,
      cmd heading: 240.469088 deg,
      new cmd heading: 240.035637 deg.

2021-08-14T20:34:48.701Z,1628973288.701 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:34:50.718Z,1628973290.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:51.081Z,1628973291.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:51.081Z,1628973291.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:51.081Z,1628973291.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:51.082Z,1628973291.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:51.485Z,1628973291.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00EC9,185,80,80,A4,FF
2021-08-14T20:34:51.485Z,1628973291.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:51.485Z,1628973291.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:51.487Z,1628973291.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:51.901Z,1628973291.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:52.721Z,1628973292.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00E42,186,80,80,A6,FF
2021-08-14T20:34:52.722Z,1628973292.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:52.724Z,1628973292.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203453.51*59

2021-08-14T20:34:53.148Z,1628973293.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.500000 m, bearing: 228.933160 deg, deltaT: 4.909738 s, approachRate: -1.649781 m/s, LOS rate: 0.153884 deg/s, posRepo size: 4
2021-08-14T20:34:53.150Z,1628973293.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 228.933160 deg,
      approachRate: -1.649781 m/s,
      LOS rate: 0.153884 deg/s,
      cmd update: 0.615534 deg/s,
      cmd heading: 236.659477 deg,
      new cmd heading: 236.422908 deg.

2021-08-14T20:34:53.923Z,1628973293.923 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:34:55.599Z,1628973295.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:34:55.921Z,1628973295.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:34:55.921Z,1628973295.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:34:55.921Z,1628973295.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:34:55.922Z,1628973295.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:34:56.329Z,1628973296.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00E42,186,80,80,A6,FF
2021-08-14T20:34:56.329Z,1628973296.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:34:56.329Z,1628973296.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:34:56.331Z,1628973296.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:34:56.738Z,1628973296.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:34:57.150Z,1628973297.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00DF2,186,80,80,A6,FF
2021-08-14T20:34:57.150Z,1628973297.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:34:57.601Z,1628973297.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203458.35*50

2021-08-14T20:34:57.685Z,1628973297.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.700012 m, bearing: 230.242098 deg, deltaT: 4.385451 s, approachRate: -1.094525 m/s, LOS rate: 0.298473 deg/s, posRepo size: 4
2021-08-14T20:34:57.688Z,1628973297.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.700012 m,
      bearing: 230.242098 deg,
      approachRate: -1.094525 m/s,
      LOS rate: 0.298473 deg/s,
      cmd update: 1.193891 deg/s,
      cmd heading: 239.351567 deg,
      new cmd heading: 239.636440 deg.

2021-08-14T20:34:58.814Z,1628973298.814 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-14T20:34:59.994Z,1628973299.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:00.369Z,1628973300.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:00.369Z,1628973300.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:00.369Z,1628973300.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:00.370Z,1628973300.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:00.785Z,1628973300.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00DF2,186,80,80,A6,FF
2021-08-14T20:35:00.785Z,1628973300.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:00.786Z,1628973300.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:00.793Z,1628973300.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:01.181Z,1628973301.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:01.618Z,1628973301.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00DC0,186,80,80,A6,FF
2021-08-14T20:35:01.618Z,1628973301.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:02.025Z,1628973302.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203502.81*51

2021-08-14T20:35:02.060Z,1628973302.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.699997 m, bearing: 228.839204 deg, deltaT: 4.426791 s, approachRate: -0.677695 m/s, LOS rate: -0.316910 deg/s, posRepo size: 4
2021-08-14T20:35:02.062Z,1628973302.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 228.839204 deg,
      approachRate: -0.677695 m/s,
      LOS rate: -0.316910 deg/s,
      cmd update: -1.267639 deg/s,
      cmd heading: 244.655620 deg,
      new cmd heading: 245.134281 deg.

2021-08-14T20:35:03.677Z,1628973303.677 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:35:04.456Z,1628973304.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:04.853Z,1628973304.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:04.854Z,1628973304.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:04.854Z,1628973304.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:04.855Z,1628973304.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:05.217Z,1628973305.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00DC0,186,80,80,A6,FF
2021-08-14T20:35:05.217Z,1628973305.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:05.218Z,1628973305.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:05.219Z,1628973305.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:05.659Z,1628973305.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:06.022Z,1628973306.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00DC0,186,80,80,A6,FF
2021-08-14T20:35:06.022Z,1628973306.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:06.465Z,1628973306.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203507.24*5B

2021-08-14T20:35:06.496Z,1628973306.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.699997 m, bearing: 228.403192 deg, deltaT: 4.415135 s, approachRate: 0.000000 m/s, LOS rate: -0.098754 deg/s, posRepo size: 4
2021-08-14T20:35:06.498Z,1628973306.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 228.403192 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.098754 deg/s,
      cmd update: -0.395016 deg/s,
      cmd heading: 239.091054 deg,
      new cmd heading: 238.524157 deg.

2021-08-14T20:35:08.917Z,1628973308.917 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:35:08.960Z,1628973308.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:09.269Z,1628973309.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:09.269Z,1628973309.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:09.269Z,1628973309.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:09.270Z,1628973309.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:09.666Z,1628973309.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00DC0,186,80,80,A6,FF
2021-08-14T20:35:09.666Z,1628973309.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:09.666Z,1628973309.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:09.668Z,1628973309.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:10.064Z,1628973310.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:10.482Z,1628973310.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00D42,186,80,80,A6,FF
2021-08-14T20:35:10.482Z,1628973310.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:10.921Z,1628973310.921 [Micromodem](INFO): Nmea in: $SNTTA,,0.458731,,,203511.69*47

2021-08-14T20:35:10.987Z,1628973310.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.139999 m, bearing: 228.833836 deg, deltaT: 4.468258 s, approachRate: -1.691934 m/s, LOS rate: 0.096378 deg/s, posRepo size: 4
2021-08-14T20:35:10.994Z,1628973310.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.139999 m,
      bearing: 228.833836 deg,
      approachRate: -1.691934 m/s,
      LOS rate: 0.096378 deg/s,
      cmd update: 0.385513 deg/s,
      cmd heading: 237.317643 deg,
      new cmd heading: 237.140302 deg.

2021-08-14T20:35:13.331Z,1628973313.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:13.697Z,1628973313.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:13.697Z,1628973313.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:13.697Z,1628973313.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:13.698Z,1628973313.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:13.717Z,1628973313.717 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T20:35:14.101Z,1628973314.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00D42,186,80,80,A6,FF
2021-08-14T20:35:14.101Z,1628973314.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:14.101Z,1628973314.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:14.103Z,1628973314.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:14.518Z,1628973314.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:14.918Z,1628973314.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00D01,186,80,80,A6,FF
2021-08-14T20:35:14.918Z,1628973314.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:15.355Z,1628973315.355 [Micromodem](INFO): Nmea in: $SNTTA,,0.282180,,,203516.12*41

2021-08-14T20:35:15.370Z,1628973315.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.239990 m, bearing: 228.949771 deg, deltaT: 4.462178 s, approachRate: -0.874015 m/s, LOS rate: 0.025982 deg/s, posRepo size: 4
2021-08-14T20:35:15.373Z,1628973315.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 228.949771 deg,
      approachRate: -0.874015 m/s,
      LOS rate: 0.025982 deg/s,
      cmd update: 0.103927 deg/s,
      cmd heading: 239.036282 deg,
      new cmd heading: 239.180471 deg.

2021-08-14T20:35:17.771Z,1628973317.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:18.149Z,1628973318.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:18.149Z,1628973318.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:18.150Z,1628973318.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:18.151Z,1628973318.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:18.549Z,1628973318.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00D01,186,80,80,A6,FF
2021-08-14T20:35:18.549Z,1628973318.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:18.549Z,1628973318.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:18.577Z,1628973318.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:18.693Z,1628973318.693 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:35:18.985Z,1628973318.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:19.378Z,1628973319.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00D01,186,80,80,A6,FF
2021-08-14T20:35:19.378Z,1628973319.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:19.805Z,1628973319.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203520.61*5F

2021-08-14T20:35:19.853Z,1628973319.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.239990 m, bearing: 228.669078 deg, deltaT: 4.397759 s, approachRate: 0.000000 m/s, LOS rate: -0.063826 deg/s, posRepo size: 4
2021-08-14T20:35:19.855Z,1628973319.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 228.669078 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.063826 deg/s,
      cmd update: -0.255306 deg/s,
      cmd heading: 239.493985 deg,
      new cmd heading: 239.540600 deg.

2021-08-14T20:35:21.939Z,1628973321.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:22.229Z,1628973322.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:22.229Z,1628973322.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:22.229Z,1628973322.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:22.230Z,1628973322.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:22.656Z,1628973322.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00D01,186,80,80,A6,FF
2021-08-14T20:35:22.656Z,1628973322.656 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:22.657Z,1628973322.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:22.658Z,1628973322.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:23.037Z,1628973323.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:23.839Z,1628973323.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,00C8A,186,80,80,94,FF
2021-08-14T20:35:23.852Z,1628973323.852 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:23.858Z,1628973323.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203524.68*52

2021-08-14T20:35:24.282Z,1628973324.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.100006 m, bearing: 229.104639 deg, deltaT: 4.515080 s, approachRate: -1.581364 m/s, LOS rate: 0.096468 deg/s, posRepo size: 4
2021-08-14T20:35:24.284Z,1628973324.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.100006 m,
      bearing: 229.104639 deg,
      approachRate: -1.581364 m/s,
      LOS rate: 0.096468 deg/s,
      cmd update: 0.385872 deg/s,
      cmd heading: 238.343138 deg,
      new cmd heading: 238.252403 deg.

2021-08-14T20:35:26.710Z,1628973326.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:27.065Z,1628973327.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:27.065Z,1628973327.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:27.065Z,1628973327.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:27.066Z,1628973327.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:27.473Z,1628973327.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,00C8A,186,80,80,94,FF
2021-08-14T20:35:27.473Z,1628973327.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:27.474Z,1628973327.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:27.475Z,1628973327.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:27.881Z,1628973327.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:28.278Z,1628973328.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00C49,186,80,80,94,FF
2021-08-14T20:35:28.278Z,1628973328.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:28.721Z,1628973328.721 [Micromodem](INFO): Nmea in: $SNTTA,0.178876,,,,203529.50*4D

2021-08-14T20:35:28.833Z,1628973328.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.199997 m, bearing: 228.972174 deg, deltaT: 4.381129 s, approachRate: -0.890184 m/s, LOS rate: -0.030235 deg/s, posRepo size: 4
2021-08-14T20:35:28.835Z,1628973328.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.199997 m,
      bearing: 228.972174 deg,
      approachRate: -0.890184 m/s,
      LOS rate: -0.030235 deg/s,
      cmd update: -0.120941 deg/s,
      cmd heading: 240.037301 deg,
      new cmd heading: 240.241769 deg.

2021-08-14T20:35:31.155Z,1628973331.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:31.505Z,1628973331.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:31.505Z,1628973331.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:31.505Z,1628973331.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:31.506Z,1628973331.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:31.913Z,1628973331.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00C49,186,80,80,94,FF
2021-08-14T20:35:31.913Z,1628973331.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:31.913Z,1628973331.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:31.915Z,1628973331.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:32.313Z,1628973332.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:32.729Z,1628973332.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00C05,186,80,80,86,FF
2021-08-14T20:35:32.730Z,1628973332.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:33.157Z,1628973333.157 [Micromodem](INFO): Nmea in: $SNTTA,0.100767,,,,203533.94*4E

2021-08-14T20:35:33.205Z,1628973333.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.119995 m, bearing: 228.757816 deg, deltaT: 4.550003 s, approachRate: -0.896703 m/s, LOS rate: -0.047112 deg/s, posRepo size: 4
2021-08-14T20:35:33.211Z,1628973333.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.119995 m,
      bearing: 228.757816 deg,
      approachRate: -0.896703 m/s,
      LOS rate: -0.047112 deg/s,
      cmd update: -0.188447 deg/s,
      cmd heading: 239.487987 deg,
      new cmd heading: 239.444016 deg.

2021-08-14T20:35:33.955Z,1628973333.955 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-14T20:35:35.724Z,1628973335.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:36.034Z,1628973336.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:36.034Z,1628973336.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:36.035Z,1628973336.035 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:36.036Z,1628973336.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:36.410Z,1628973336.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00C05,186,80,80,86,FF
2021-08-14T20:35:36.410Z,1628973336.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:36.410Z,1628973336.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:36.413Z,1628973336.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:36.874Z,1628973336.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:37.218Z,1628973337.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00BC6,186,80,80,8B,FF
2021-08-14T20:35:37.218Z,1628973337.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:37.661Z,1628973337.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203538.43*56

2021-08-14T20:35:37.719Z,1628973337.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.339996 m, bearing: 227.746921 deg, deltaT: 4.386017 s, approachRate: -0.861829 m/s, LOS rate: -0.230481 deg/s, posRepo size: 4
2021-08-14T20:35:37.725Z,1628973337.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.339996 m,
      bearing: 227.746921 deg,
      approachRate: -0.861829 m/s,
      LOS rate: -0.230481 deg/s,
      cmd update: -0.921926 deg/s,
      cmd heading: 238.659899 deg,
      new cmd heading: 238.568710 deg.

2021-08-14T20:35:40.078Z,1628973340.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:40.445Z,1628973340.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:40.445Z,1628973340.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:40.445Z,1628973340.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:40.446Z,1628973340.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:40.885Z,1628973340.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00BC6,186,80,80,8B,FF
2021-08-14T20:35:40.885Z,1628973340.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:40.885Z,1628973340.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:40.887Z,1628973340.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:41.273Z,1628973341.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:41.682Z,1628973341.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00B88,184,80,80,A4,FF
2021-08-14T20:35:41.682Z,1628973341.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:42.097Z,1628973342.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203542.91*54

2021-08-14T20:35:42.136Z,1628973342.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.619995 m, bearing: 229.461599 deg, deltaT: 4.502587 s, approachRate: -0.826192 m/s, LOS rate: 0.380821 deg/s, posRepo size: 4
2021-08-14T20:35:42.138Z,1628973342.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.619995 m,
      bearing: 229.461599 deg,
      approachRate: -0.826192 m/s,
      LOS rate: 0.380821 deg/s,
      cmd update: 1.523283 deg/s,
      cmd heading: 234.508867 deg,
      new cmd heading: 234.141816 deg.

2021-08-14T20:35:44.516Z,1628973344.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:44.913Z,1628973344.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:44.914Z,1628973344.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:44.914Z,1628973344.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:44.915Z,1628973344.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:45.310Z,1628973345.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00B88,184,80,80,A4,FF
2021-08-14T20:35:45.310Z,1628973345.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:45.310Z,1628973345.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:45.312Z,1628973345.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:45.731Z,1628973345.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:46.129Z,1628973346.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00B48,184,80,80,A0,FF
2021-08-14T20:35:46.130Z,1628973346.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:46.586Z,1628973346.586 [Micromodem](INFO): Nmea in: $SNTTA,0.090253,,,,203547.33*4A

2021-08-14T20:35:46.634Z,1628973346.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.779999 m, bearing: 229.121455 deg, deltaT: 4.430668 s, approachRate: -0.866686 m/s, LOS rate: -0.076770 deg/s, posRepo size: 4
2021-08-14T20:35:46.637Z,1628973346.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.779999 m,
      bearing: 229.121455 deg,
      approachRate: -0.866686 m/s,
      LOS rate: -0.076770 deg/s,
      cmd update: -0.307081 deg/s,
      cmd heading: 241.224900 deg,
      new cmd heading: 241.968333 deg.

2021-08-14T20:35:48.744Z,1628973348.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:48.989Z,1628973348.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:48.989Z,1628973348.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:48.990Z,1628973348.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:48.990Z,1628973348.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:49.369Z,1628973349.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00B48,184,80,80,A0,FF
2021-08-14T20:35:49.369Z,1628973349.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:49.369Z,1628973349.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:49.371Z,1628973349.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:49.780Z,1628973349.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:50.158Z,1628973350.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00B0D,186,80,80,AE,FF
2021-08-14T20:35:50.158Z,1628973350.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:50.606Z,1628973350.606 [Micromodem](INFO): Nmea in: $SNTTA,0.103658,,,,203551.39*43

2021-08-14T20:35:50.652Z,1628973350.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.240005 m, bearing: 227.773408 deg, deltaT: 4.007298 s, approachRate: -0.883387 m/s, LOS rate: -0.336398 deg/s, posRepo size: 4
2021-08-14T20:35:50.654Z,1628973350.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.240005 m,
      bearing: 227.773408 deg,
      approachRate: -0.883387 m/s,
      LOS rate: -0.336398 deg/s,
      cmd update: -1.345592 deg/s,
      cmd heading: 239.987697 deg,
      new cmd heading: 239.841438 deg.

2021-08-14T20:35:53.080Z,1628973353.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:53.389Z,1628973353.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:53.389Z,1628973353.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:53.389Z,1628973353.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:53.390Z,1628973353.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:53.793Z,1628973353.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00B0D,186,80,80,AE,FF
2021-08-14T20:35:53.793Z,1628973353.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:53.793Z,1628973353.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:53.795Z,1628973353.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:54.201Z,1628973354.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:54.631Z,1628973354.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00ACE,186,80,80,B1,FF
2021-08-14T20:35:54.631Z,1628973354.631 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:55.045Z,1628973355.045 [Micromodem](INFO): Nmea in: $SNTTA,,0.433530,,,203555.82*4C

2021-08-14T20:35:55.103Z,1628973355.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 227.304352 deg, deltaT: 4.536737 s, approachRate: -0.833201 m/s, LOS rate: -0.103391 deg/s, posRepo size: 4
2021-08-14T20:35:55.105Z,1628973355.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.459991 m,
      bearing: 227.304352 deg,
      approachRate: -0.833201 m/s,
      LOS rate: -0.103391 deg/s,
      cmd update: -0.413563 deg/s,
      cmd heading: 233.884088 deg,
      new cmd heading: 233.357333 deg.

2021-08-14T20:35:57.453Z,1628973357.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:35:57.837Z,1628973357.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:35:57.838Z,1628973357.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:35:57.838Z,1628973357.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:35:57.839Z,1628973357.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:35:58.237Z,1628973358.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00ACE,186,80,80,B1,FF
2021-08-14T20:35:58.237Z,1628973358.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:35:58.237Z,1628973358.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:35:58.239Z,1628973358.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:35:58.673Z,1628973358.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:35:59.049Z,1628973359.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00A91,184,80,80,BF,FF
2021-08-14T20:35:59.049Z,1628973359.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:35:59.088Z,1628973359.088 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-14T20:35:59.489Z,1628973359.489 [Micromodem](INFO): Nmea in: $SNTTA,,0.213650,,,203600.26*40

2021-08-14T20:35:59.517Z,1628973359.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 228.833727 deg, deltaT: 4.406476 s, approachRate: -0.830593 m/s, LOS rate: 0.347074 deg/s, posRepo size: 4
2021-08-14T20:35:59.549Z,1628973359.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.800003 m,
      bearing: 228.833727 deg,
      approachRate: -0.830593 m/s,
      LOS rate: 0.347074 deg/s,
      cmd update: 1.388298 deg/s,
      cmd heading: 232.068002 deg,
      new cmd heading: 231.896773 deg.

2021-08-14T20:36:01.626Z,1628973361.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:01.889Z,1628973361.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:01.889Z,1628973361.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:01.889Z,1628973361.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:01.890Z,1628973361.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:02.345Z,1628973362.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00A91,184,80,80,BF,FF
2021-08-14T20:36:02.345Z,1628973362.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:02.345Z,1628973362.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:02.347Z,1628973362.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:02.708Z,1628973362.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:03.102Z,1628973363.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00A57,184,80,80,BF,FF
2021-08-14T20:36:03.103Z,1628973363.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:03.519Z,1628973363.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203604.37*59

2021-08-14T20:36:03.591Z,1628973363.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.320000 m, bearing: 227.518259 deg, deltaT: 4.044530 s, approachRate: -0.860422 m/s, LOS rate: -0.325246 deg/s, posRepo size: 4
2021-08-14T20:36:03.639Z,1628973363.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.320000 m,
      bearing: 227.518259 deg,
      approachRate: -0.860422 m/s,
      LOS rate: -0.325246 deg/s,
      cmd update: -1.300984 deg/s,
      cmd heading: 237.677547 deg,
      new cmd heading: 238.286821 deg.

2021-08-14T20:36:05.965Z,1628973365.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:06.309Z,1628973366.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:06.309Z,1628973366.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:06.310Z,1628973366.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:06.310Z,1628973366.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:06.713Z,1628973366.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00A57,184,80,80,BF,FF
2021-08-14T20:36:06.714Z,1628973366.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:06.714Z,1628973366.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:06.716Z,1628973366.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:07.129Z,1628973367.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:07.525Z,1628973367.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00A1A,186,80,80,B9,FF
2021-08-14T20:36:07.525Z,1628973367.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:07.970Z,1628973367.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203608.74*52

2021-08-14T20:36:08.011Z,1628973368.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.660004 m, bearing: 227.092165 deg, deltaT: 4.431937 s, approachRate: -0.825823 m/s, LOS rate: -0.096142 deg/s, posRepo size: 4
2021-08-14T20:36:08.018Z,1628973368.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.660004 m,
      bearing: 227.092165 deg,
      approachRate: -0.825823 m/s,
      LOS rate: -0.096142 deg/s,
      cmd update: -0.384567 deg/s,
      cmd heading: 231.903120 deg,
      new cmd heading: 231.344110 deg.

2021-08-14T20:36:10.393Z,1628973370.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:10.756Z,1628973370.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:10.757Z,1628973370.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:10.757Z,1628973370.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:10.759Z,1628973370.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:11.170Z,1628973371.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00A1A,186,80,80,B9,FF
2021-08-14T20:36:11.170Z,1628973371.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:11.170Z,1628973371.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:11.172Z,1628973371.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:11.592Z,1628973371.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:11.977Z,1628973371.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,002F0,185,80,80,AD,FF
2021-08-14T20:36:11.978Z,1628973371.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:12.430Z,1628973372.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203613.19*53

2021-08-14T20:36:12.465Z,1628973372.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 227.921568 deg, deltaT: 4.414023 s, approachRate: -24.929640 m/s, LOS rate: 0.187902 deg/s, posRepo size: 4
2021-08-14T20:36:12.466Z,1628973372.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 7.62 m.
2021-08-14T20:36:12.472Z,1628973372.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 227.921568 deg,
      approachRate: -24.929640 m/s,
      LOS rate: 0.187902 deg/s,
      cmd update: 0.751608 deg/s,
      cmd heading: 230.201027 deg,
      new cmd heading: 230.026720 deg.

2021-08-14T20:36:12.838Z,1628973372.838 [PowerOnly](INFO): Powering up loadControl
2021-08-14T20:36:12.898Z,1628973372.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:36:12.898Z,1628973372.898 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:36:12.899Z,1628973372.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:36:12.899Z,1628973372.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:36:12.899Z,1628973372.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:36:12.899Z,1628973372.899 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:36:13.252Z,1628973373.252 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:36:13.252Z,1628973373.252 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:36:13.252Z,1628973373.252 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:36:13.253Z,1628973373.253 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:36:15.046Z,1628973375.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:15.237Z,1628973375.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:15.237Z,1628973375.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:15.237Z,1628973375.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:15.238Z,1628973375.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:15.713Z,1628973375.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,002F0,185,80,80,AD,FF
2021-08-14T20:36:15.713Z,1628973375.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:15.713Z,1628973375.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:15.715Z,1628973375.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:16.092Z,1628973376.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:16.481Z,1628973376.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,0099E,183,80,80,79,FF
2021-08-14T20:36:16.481Z,1628973376.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:16.526Z,1628973376.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:36:16.899Z,1628973376.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203617.74*5C

2021-08-14T20:36:16.997Z,1628973376.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 227.959367 deg, deltaT: 4.514155 s, approachRate: 22.728506 m/s, LOS rate: 0.008373 deg/s, posRepo size: 4
2021-08-14T20:36:16.999Z,1628973376.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.220001 m,
      bearing: 227.959367 deg,
      approachRate: 22.728506 m/s,
      LOS rate: 0.008373 deg/s,
      cmd update: 0.033493 deg/s,
      cmd heading: 233.591595 deg,
      new cmd heading: 233.950587 deg.

2021-08-14T20:36:17.307Z,1628973377.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:36:17.307Z,1628973377.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:36:17.307Z,1628973377.307 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:36:17.308Z,1628973377.308 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:36:17.308Z,1628973377.308 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:36:17.308Z,1628973377.308 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:36:17.707Z,1628973377.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:36:17.707Z,1628973377.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:36:17.707Z,1628973377.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:36:17.724Z,1628973377.724 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:36:19.311Z,1628973379.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:19.693Z,1628973379.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:19.693Z,1628973379.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:19.693Z,1628973379.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:19.694Z,1628973379.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:20.105Z,1628973380.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,0099E,183,80,80,79,FF
2021-08-14T20:36:20.105Z,1628973380.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:20.105Z,1628973380.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:20.107Z,1628973380.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:20.508Z,1628973380.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:20.909Z,1628973380.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00962,183,80,80,65,FF
2021-08-14T20:36:20.910Z,1628973380.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:21.349Z,1628973381.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203622.13*5B

2021-08-14T20:36:21.372Z,1628973381.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.619995 m, bearing: 229.062524 deg, deltaT: 4.495745 s, approachRate: -0.800759 m/s, LOS rate: 0.245378 deg/s, posRepo size: 4
2021-08-14T20:36:21.374Z,1628973381.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.619995 m,
      bearing: 229.062524 deg,
      approachRate: -0.800759 m/s,
      LOS rate: 0.245378 deg/s,
      cmd update: 0.981512 deg/s,
      cmd heading: 233.742184 deg,
      new cmd heading: 233.754132 deg.

2021-08-14T20:36:23.783Z,1628973383.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:24.141Z,1628973384.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:24.141Z,1628973384.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:24.141Z,1628973384.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:24.142Z,1628973384.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:24.549Z,1628973384.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00962,183,80,80,65,FF
2021-08-14T20:36:24.549Z,1628973384.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:24.550Z,1628973384.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:24.551Z,1628973384.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:24.957Z,1628973384.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:25.805Z,1628973385.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203626.57*5F

2021-08-14T20:36:26.618Z,1628973386.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:28.181Z,1628973388.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,183,80,80,65,FF
2021-08-14T20:36:28.181Z,1628973388.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,183,80,80,65,FF
2021-08-14T20:36:28.181Z,1628973388.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:36:29.125Z,1628973389.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:29.414Z,1628973389.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:29.414Z,1628973389.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:29.414Z,1628973389.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:29.415Z,1628973389.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:29.829Z,1628973389.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,183,80,80,65,FF
2021-08-14T20:36:29.829Z,1628973389.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:29.829Z,1628973389.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:29.831Z,1628973389.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:30.217Z,1628973390.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:30.615Z,1628973390.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,008E1,186,80,80,AC,FF
2021-08-14T20:36:30.616Z,1628973390.616 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:31.037Z,1628973391.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203631.85*56

2021-08-14T20:36:31.110Z,1628973391.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.880005 m, bearing: 224.332878 deg, deltaT: 9.665963 s, approachRate: -0.800747 m/s, LOS rate: -0.489309 deg/s, posRepo size: 4
2021-08-14T20:36:31.112Z,1628973391.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.880005 m,
      bearing: 224.332878 deg,
      approachRate: -0.800747 m/s,
      LOS rate: -0.489309 deg/s,
      cmd update: -1.957237 deg/s,
      cmd heading: 243.225372 deg,
      new cmd heading: 243.650251 deg.

2021-08-14T20:36:33.471Z,1628973393.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:33.841Z,1628973393.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:33.841Z,1628973393.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:33.841Z,1628973393.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:33.842Z,1628973393.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:34.242Z,1628973394.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,008E1,186,80,80,AC,FF
2021-08-14T20:36:34.242Z,1628973394.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:34.242Z,1628973394.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:34.244Z,1628973394.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:34.649Z,1628973394.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:35.057Z,1628973395.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,008A5,185,80,80,BC,FF
2021-08-14T20:36:35.057Z,1628973395.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:35.485Z,1628973395.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203636.26*58

2021-08-14T20:36:35.521Z,1628973395.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.279999 m, bearing: 222.069039 deg, deltaT: 4.432091 s, approachRate: -0.812259 m/s, LOS rate: -0.510783 deg/s, posRepo size: 4
2021-08-14T20:36:35.523Z,1628973395.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.279999 m,
      bearing: 222.069039 deg,
      approachRate: -0.812259 m/s,
      LOS rate: -0.510783 deg/s,
      cmd update: -2.043134 deg/s,
      cmd heading: 234.534850 deg,
      new cmd heading: 233.745416 deg.

2021-08-14T20:36:37.937Z,1628973397.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:38.282Z,1628973398.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:38.282Z,1628973398.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:38.282Z,1628973398.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:38.283Z,1628973398.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:38.717Z,1628973398.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,008A5,185,80,80,BC,FF
2021-08-14T20:36:38.717Z,1628973398.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:38.717Z,1628973398.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:38.719Z,1628973398.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:39.101Z,1628973399.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:39.498Z,1628973399.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0086A,186,80,80,A5,FF
2021-08-14T20:36:39.498Z,1628973399.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:39.919Z,1628973399.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203640.74*5E

2021-08-14T20:36:39.967Z,1628973399.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 224.097687 deg, deltaT: 4.482016 s, approachRate: -0.789823 m/s, LOS rate: 0.452620 deg/s, posRepo size: 4
2021-08-14T20:36:39.969Z,1628973399.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 224.097687 deg,
      approachRate: -0.789823 m/s,
      LOS rate: 0.452620 deg/s,
      cmd update: 1.810478 deg/s,
      cmd heading: 225.451075 deg,
      new cmd heading: 224.625175 deg.

2021-08-14T20:36:42.448Z,1628973402.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:42.771Z,1628973402.771 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:42.774Z,1628973402.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:42.775Z,1628973402.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:42.776Z,1628973402.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:43.160Z,1628973403.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0086A,186,80,80,A5,FF
2021-08-14T20:36:43.161Z,1628973403.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:43.161Z,1628973403.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:43.163Z,1628973403.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:43.569Z,1628973403.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:43.941Z,1628973403.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0082C,184,80,80,B9,FF
2021-08-14T20:36:43.942Z,1628973403.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:44.381Z,1628973404.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203645.19*50

2021-08-14T20:36:44.405Z,1628973404.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.019997 m, bearing: 223.173644 deg, deltaT: 4.484149 s, approachRate: -0.829589 m/s, LOS rate: -0.206069 deg/s, posRepo size: 4
2021-08-14T20:36:44.408Z,1628973404.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.019997 m,
      bearing: 223.173644 deg,
      approachRate: -0.829589 m/s,
      LOS rate: -0.206069 deg/s,
      cmd update: -0.824275 deg/s,
      cmd heading: 233.512055 deg,
      new cmd heading: 234.215634 deg.

2021-08-14T20:36:46.893Z,1628973406.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:47.173Z,1628973407.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:47.173Z,1628973407.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:47.173Z,1628973407.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:47.174Z,1628973407.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:47.603Z,1628973407.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0082C,184,80,80,B9,FF
2021-08-14T20:36:47.603Z,1628973407.603 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:47.603Z,1628973407.603 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:47.605Z,1628973407.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:48.023Z,1628973408.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:48.437Z,1628973408.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,038,000,007EF,185,80,80,88,FF
2021-08-14T20:36:48.438Z,1628973408.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:48.869Z,1628973408.869 [Micromodem](INFO): Nmea in: $SNTTA,0.069645,,,,203649.63*47

2021-08-14T20:36:48.940Z,1628973408.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.360001 m, bearing: 224.238006 deg, deltaT: 4.372867 s, approachRate: -0.836979 m/s, LOS rate: 0.243401 deg/s, posRepo size: 4
2021-08-14T20:36:48.942Z,1628973408.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.360001 m,
      bearing: 224.238006 deg,
      approachRate: -0.836979 m/s,
      LOS rate: 0.243401 deg/s,
      cmd update: 0.973606 deg/s,
      cmd heading: 229.851542 deg,
      new cmd heading: 229.453116 deg.

2021-08-14T20:36:51.259Z,1628973411.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:51.662Z,1628973411.662 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:51.662Z,1628973411.662 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:51.662Z,1628973411.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:51.664Z,1628973411.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:52.053Z,1628973412.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
038,000,007EF,185,80,80,88,FF
2021-08-14T20:36:52.054Z,1628973412.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:52.054Z,1628973412.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:52.055Z,1628973412.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:52.483Z,1628973412.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:52.865Z,1628973412.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,007B1,184,80,80,A9,FF
2021-08-14T20:36:52.866Z,1628973412.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:53.306Z,1628973413.306 [Micromodem](INFO): Nmea in: $SNTTA,0.058774,,,,203654.08*47

2021-08-14T20:36:53.328Z,1628973413.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 224.417982 deg, deltaT: 4.511440 s, approachRate: -0.824571 m/s, LOS rate: 0.039893 deg/s, posRepo size: 4
2021-08-14T20:36:53.330Z,1628973413.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.639999 m,
      bearing: 224.417982 deg,
      approachRate: -0.824571 m/s,
      LOS rate: 0.039893 deg/s,
      cmd update: 0.159573 deg/s,
      cmd heading: 234.243860 deg,
      new cmd heading: 234.594412 deg.

2021-08-14T20:36:55.800Z,1628973415.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:36:56.121Z,1628973416.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:36:56.121Z,1628973416.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:36:56.121Z,1628973416.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:36:56.122Z,1628973416.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:36:56.522Z,1628973416.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,007B1,184,80,80,A9,FF
2021-08-14T20:36:56.522Z,1628973416.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:36:56.523Z,1628973416.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:36:56.525Z,1628973416.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:36:56.916Z,1628973416.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:36:57.315Z,1628973417.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00772,187,80,80,8D,FF
2021-08-14T20:36:57.315Z,1628973417.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:36:57.732Z,1628973417.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203658.55*54

2021-08-14T20:36:57.760Z,1628973417.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 223.177100 deg, deltaT: 4.377895 s, approachRate: -0.863427 m/s, LOS rate: -0.283442 deg/s, posRepo size: 4
2021-08-14T20:36:57.762Z,1628973417.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 223.177100 deg,
      approachRate: -0.863427 m/s,
      LOS rate: -0.283442 deg/s,
      cmd update: -1.133770 deg/s,
      cmd heading: 234.941941 deg,
      new cmd heading: 235.008526 deg.

2021-08-14T20:37:00.164Z,1628973420.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:00.537Z,1628973420.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:00.537Z,1628973420.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:00.537Z,1628973420.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:00.538Z,1628973420.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:00.937Z,1628973420.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00772,187,80,80,8D,FF
2021-08-14T20:37:00.938Z,1628973420.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:00.938Z,1628973420.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:00.940Z,1628973420.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:01.345Z,1628973421.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:01.749Z,1628973421.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00735,185,80,80,C0,FF
2021-08-14T20:37:01.750Z,1628973421.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:02.206Z,1628973422.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203702.96*55

2021-08-14T20:37:02.235Z,1628973422.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 222.691788 deg, deltaT: 4.460380 s, approachRate: -0.820560 m/s, LOS rate: -0.108805 deg/s, posRepo size: 4
2021-08-14T20:37:02.238Z,1628973422.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.199997 m,
      bearing: 222.691788 deg,
      approachRate: -0.820560 m/s,
      LOS rate: -0.108805 deg/s,
      cmd update: -0.435221 deg/s,
      cmd heading: 229.885791 deg,
      new cmd heading: 229.399296 deg.

2021-08-14T20:37:04.643Z,1628973424.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:04.977Z,1628973424.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:04.977Z,1628973424.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:04.977Z,1628973424.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:04.978Z,1628973424.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:05.381Z,1628973425.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00735,185,80,80,C0,FF
2021-08-14T20:37:05.381Z,1628973425.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:05.381Z,1628973425.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:05.383Z,1628973425.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:05.793Z,1628973425.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:06.205Z,1628973426.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,006F6,184,80,80,A0,FF
2021-08-14T20:37:06.205Z,1628973426.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:06.641Z,1628973426.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203707.40*5B

2021-08-14T20:37:06.703Z,1628973426.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 223.863671 deg, deltaT: 4.417157 s, approachRate: -0.855752 m/s, LOS rate: 0.265303 deg/s, posRepo size: 4
2021-08-14T20:37:06.705Z,1628973426.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.420006 m,
      bearing: 223.863671 deg,
      approachRate: -0.855752 m/s,
      LOS rate: 0.265303 deg/s,
      cmd update: 1.061210 deg/s,
      cmd heading: 227.961647 deg,
      new cmd heading: 227.752732 deg.

2021-08-14T20:37:08.768Z,1628973428.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:09.090Z,1628973429.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:09.091Z,1628973429.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:09.092Z,1628973429.092 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:09.094Z,1628973429.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:09.506Z,1628973429.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,006F6,184,80,80,A0,FF
2021-08-14T20:37:09.506Z,1628973429.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:09.506Z,1628973429.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:09.512Z,1628973429.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:09.844Z,1628973429.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:10.269Z,1628973430.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,006B8,185,80,80,AA,FF
2021-08-14T20:37:10.270Z,1628973430.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:10.745Z,1628973430.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 223.634095 deg, deltaT: 4.068891 s, approachRate: -0.914254 m/s, LOS rate: -0.056422 deg/s, posRepo size: 4
2021-08-14T20:37:10.747Z,1628973430.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.700005 m,
      bearing: 223.634095 deg,
      approachRate: -0.914254 m/s,
      LOS rate: -0.056422 deg/s,
      cmd update: -0.225689 deg/s,
      cmd heading: 232.274566 deg,
      new cmd heading: 232.755428 deg.

2021-08-14T20:37:11.049Z,1628973431.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203711.54*59

2021-08-14T20:37:13.123Z,1628973433.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:13.469Z,1628973433.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:13.469Z,1628973433.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:13.469Z,1628973433.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:13.470Z,1628973433.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:13.865Z,1628973433.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,006B8,185,80,80,AA,FF
2021-08-14T20:37:13.865Z,1628973433.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:13.866Z,1628973433.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:13.867Z,1628973433.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:14.289Z,1628973434.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:14.673Z,1628973434.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00678,184,80,80,AA,FF
2021-08-14T20:37:14.673Z,1628973434.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:15.114Z,1628973435.114 [Micromodem](INFO): Nmea in: $SNTTA,0.048063,,,,203715.89*4A

2021-08-14T20:37:15.150Z,1628973435.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 222.768273 deg, deltaT: 4.451562 s, approachRate: -0.862619 m/s, LOS rate: -0.194498 deg/s, posRepo size: 4
2021-08-14T20:37:15.152Z,1628973435.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.860001 m,
      bearing: 222.768273 deg,
      approachRate: -0.862619 m/s,
      LOS rate: -0.194498 deg/s,
      cmd update: -0.777994 deg/s,
      cmd heading: 231.271238 deg,
      new cmd heading: 231.177079 deg.

2021-08-14T20:37:17.513Z,1628973437.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:17.909Z,1628973437.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:17.910Z,1628973437.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:17.910Z,1628973437.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:17.911Z,1628973437.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:18.321Z,1628973438.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00678,184,80,80,AA,FF
2021-08-14T20:37:18.321Z,1628973438.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:18.321Z,1628973438.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:18.323Z,1628973438.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:18.769Z,1628973438.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:19.118Z,1628973439.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,0063A,186,80,80,BB,FF
2021-08-14T20:37:19.118Z,1628973439.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:19.561Z,1628973439.561 [Micromodem](INFO): Nmea in: $SNTTA,0.046709,,,,203720.35*4E

2021-08-14T20:37:19.613Z,1628973439.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 222.471118 deg, deltaT: 4.396195 s, approachRate: -0.846187 m/s, LOS rate: -0.067593 deg/s, posRepo size: 4
2021-08-14T20:37:19.615Z,1628973439.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 222.471118 deg,
      approachRate: -0.846187 m/s,
      LOS rate: -0.067593 deg/s,
      cmd update: -0.270374 deg/s,
      cmd heading: 227.842641 deg,
      new cmd heading: 227.478142 deg.

2021-08-14T20:37:21.968Z,1628973441.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:22.353Z,1628973442.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:22.354Z,1628973442.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:22.354Z,1628973442.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:22.355Z,1628973442.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:22.937Z,1628973442.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,0063A,186,80,80,BB,FF
2021-08-14T20:37:22.937Z,1628973442.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:22.937Z,1628973442.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:22.939Z,1628973442.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:23.333Z,1628973443.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:23.733Z,1628973443.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00600,183,80,80,8A,FF
2021-08-14T20:37:23.733Z,1628973443.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:24.149Z,1628973444.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203724.96*51

2021-08-14T20:37:24.205Z,1628973444.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 225.190463 deg, deltaT: 4.653866 s, approachRate: -0.747765 m/s, LOS rate: 0.584319 deg/s, posRepo size: 4
2021-08-14T20:37:24.212Z,1628973444.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.660000 m,
      bearing: 225.190463 deg,
      approachRate: -0.747765 m/s,
      LOS rate: 0.584319 deg/s,
      cmd update: 2.337278 deg/s,
      cmd heading: 226.585438 deg,
      new cmd heading: 226.474494 deg.

2021-08-14T20:37:26.595Z,1628973446.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:26.933Z,1628973446.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:26.933Z,1628973446.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:26.933Z,1628973446.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:26.934Z,1628973446.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:27.334Z,1628973447.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00600,183,80,80,8A,FF
2021-08-14T20:37:27.334Z,1628973447.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:27.334Z,1628973447.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:27.336Z,1628973447.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:27.743Z,1628973447.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:28.142Z,1628973448.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,005BA,184,80,80,A1,FF
2021-08-14T20:37:28.142Z,1628973448.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:28.597Z,1628973448.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203729.36*56

2021-08-14T20:37:28.655Z,1628973448.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 223.667904 deg, deltaT: 4.369990 s, approachRate: -0.961102 m/s, LOS rate: -0.348412 deg/s, posRepo size: 4
2021-08-14T20:37:28.662Z,1628973448.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 223.667904 deg,
      approachRate: -0.961102 m/s,
      LOS rate: -0.348412 deg/s,
      cmd update: -1.393649 deg/s,
      cmd heading: 236.808692 deg,
      new cmd heading: 237.958034 deg.

2021-08-14T20:37:31.038Z,1628973451.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:31.389Z,1628973451.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:31.390Z,1628973451.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:31.390Z,1628973451.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:31.391Z,1628973451.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:31.789Z,1628973451.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,005BA,184,80,80,A1,FF
2021-08-14T20:37:31.789Z,1628973451.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:31.789Z,1628973451.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:31.791Z,1628973451.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:32.201Z,1628973452.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:32.633Z,1628973452.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,0057A,186,80,80,AD,FF
2021-08-14T20:37:32.634Z,1628973452.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:33.037Z,1628973453.037 [Micromodem](INFO): Nmea in: $SNTTA,0.041734,,,,203733.82*49

2021-08-14T20:37:33.105Z,1628973453.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 221.254867 deg, deltaT: 4.542396 s, approachRate: -0.845368 m/s, LOS rate: -0.531226 deg/s, posRepo size: 4
2021-08-14T20:37:33.107Z,1628973453.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.619999 m,
      bearing: 221.254867 deg,
      approachRate: -0.845368 m/s,
      LOS rate: -0.531226 deg/s,
      cmd update: -2.124903 deg/s,
      cmd heading: 230.483967 deg,
      new cmd heading: 229.927703 deg.

2021-08-14T20:37:35.466Z,1628973455.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:35.829Z,1628973455.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:35.829Z,1628973455.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:35.829Z,1628973455.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:35.830Z,1628973455.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:36.297Z,1628973456.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,0057A,186,80,80,AD,FF
2021-08-14T20:37:36.297Z,1628973456.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:36.297Z,1628973456.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:36.299Z,1628973456.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:36.766Z,1628973456.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:37.076Z,1628973457.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,0053A,186,80,80,B4,FF
2021-08-14T20:37:37.076Z,1628973457.076 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:37.501Z,1628973457.501 [Micromodem](INFO): Nmea in: $SNTTA,0.044858,,,,203738.32*49

2021-08-14T20:37:37.535Z,1628973457.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 222.824239 deg, deltaT: 4.448248 s, approachRate: -0.863260 m/s, LOS rate: 0.352807 deg/s, posRepo size: 4
2021-08-14T20:37:37.568Z,1628973457.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.780003 m,
      bearing: 222.824239 deg,
      approachRate: -0.863260 m/s,
      LOS rate: 0.352807 deg/s,
      cmd update: 1.411228 deg/s,
      cmd heading: 221.031728 deg,
      new cmd heading: 220.213081 deg.

2021-08-14T20:37:39.917Z,1628973459.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:40.269Z,1628973460.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:40.270Z,1628973460.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:40.270Z,1628973460.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:40.271Z,1628973460.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:40.676Z,1628973460.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,0053A,186,80,80,B4,FF
2021-08-14T20:37:40.677Z,1628973460.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:40.677Z,1628973460.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:40.678Z,1628973460.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:41.077Z,1628973461.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:41.493Z,1628973461.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,004FC,185,80,80,9C,FF
2021-08-14T20:37:41.494Z,1628973461.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:41.926Z,1628973461.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203742.70*59

2021-08-14T20:37:41.952Z,1628973461.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 224.111115 deg, deltaT: 4.444850 s, approachRate: -0.836924 m/s, LOS rate: 0.289521 deg/s, posRepo size: 4
2021-08-14T20:37:41.953Z,1628973461.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.06 m.
2021-08-14T20:37:41.953Z,1628973461.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.06 m.
2021-08-14T20:37:41.953Z,1628973461.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T20:37:41.955Z,1628973461.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.060001 m,
      bearing: 224.111115 deg,
      approachRate: -0.836924 m/s,
      LOS rate: 0.289521 deg/s,
      cmd update: 1.158083 deg/s,
      cmd heading: 227.284696 deg,
      new cmd heading: 227.808410 deg.

2021-08-14T20:37:42.325Z,1628973462.325 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:37:42.325Z,1628973462.325 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:37:42.326Z,1628973462.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:37:42.326Z,1628973462.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:37:42.326Z,1628973462.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:37:42.326Z,1628973462.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:37:42.741Z,1628973462.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:37:42.741Z,1628973462.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:37:42.741Z,1628973462.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:37:42.742Z,1628973462.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:37:44.356Z,1628973464.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:44.709Z,1628973464.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:44.709Z,1628973464.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:44.709Z,1628973464.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:44.710Z,1628973464.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:45.122Z,1628973465.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,004FC,185,80,80,9C,FF
2021-08-14T20:37:45.122Z,1628973465.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:45.123Z,1628973465.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:45.124Z,1628973465.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:45.528Z,1628973465.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:45.926Z,1628973465.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,004BB,183,80,80,63,FF
2021-08-14T20:37:45.926Z,1628973465.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:45.981Z,1628973465.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:37:46.393Z,1628973466.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203747.15*5F

2021-08-14T20:37:46.423Z,1628973466.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 224.019755 deg, deltaT: 4.379174 s, approachRate: -0.890580 m/s, LOS rate: -0.020863 deg/s, posRepo size: 4
2021-08-14T20:37:46.445Z,1628973466.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.159996 m,
      bearing: 224.019755 deg,
      approachRate: -0.890580 m/s,
      LOS rate: -0.020863 deg/s,
      cmd update: -0.083450 deg/s,
      cmd heading: 232.376607 deg,
      new cmd heading: 232.890389 deg.

2021-08-14T20:37:48.882Z,1628973468.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:49.166Z,1628973469.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:49.166Z,1628973469.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:49.166Z,1628973469.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:49.167Z,1628973469.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:49.669Z,1628973469.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,004BB,183,80,80,63,FF
2021-08-14T20:37:49.669Z,1628973469.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:49.669Z,1628973469.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:49.671Z,1628973469.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:50.109Z,1628973470.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:50.442Z,1628973470.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,0047C,186,80,80,57,FF
2021-08-14T20:37:50.442Z,1628973470.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:50.475Z,1628973470.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:37:50.902Z,1628973470.902 [Micromodem](INFO): Nmea in: $SNTTA,0.064280,,,,203751.70*4D

2021-08-14T20:37:50.999Z,1628973470.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 222.066894 deg, deltaT: 4.493795 s, approachRate: -0.841159 m/s, LOS rate: -0.434568 deg/s, posRepo size: 4
2021-08-14T20:37:51.006Z,1628973471.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.379999 m,
      bearing: 222.066894 deg,
      approachRate: -0.841159 m/s,
      LOS rate: -0.434568 deg/s,
      cmd update: -1.738273 deg/s,
      cmd heading: 232.001927 deg,
      new cmd heading: 231.961813 deg.

2021-08-14T20:37:53.276Z,1628973473.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:53.653Z,1628973473.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:53.653Z,1628973473.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:53.653Z,1628973473.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:53.654Z,1628973473.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:54.045Z,1628973474.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,0047C,186,80,80,57,FF
2021-08-14T20:37:54.045Z,1628973474.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:54.045Z,1628973474.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:54.047Z,1628973474.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:54.476Z,1628973474.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:54.865Z,1628973474.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,0043E,186,80,80,AB,FF
2021-08-14T20:37:54.865Z,1628973474.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:54.963Z,1628973474.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:37:55.313Z,1628973475.313 [Micromodem](INFO): Nmea in: $SNTTA,0.307800,,,,203756.07*4E

2021-08-14T20:37:55.336Z,1628973475.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 221.661154 deg, deltaT: 4.487850 s, approachRate: -0.828905 m/s, LOS rate: -0.090409 deg/s, posRepo size: 4
2021-08-14T20:37:55.338Z,1628973475.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.659998 m,
      bearing: 221.661154 deg,
      approachRate: -0.828905 m/s,
      LOS rate: -0.090409 deg/s,
      cmd update: -0.361635 deg/s,
      cmd heading: 224.193915 deg,
      new cmd heading: 223.540349 deg.

2021-08-14T20:37:57.711Z,1628973477.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:37:58.093Z,1628973478.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:37:58.094Z,1628973478.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:37:58.094Z,1628973478.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:37:58.095Z,1628973478.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:37:58.497Z,1628973478.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,0043E,186,80,80,AB,FF
2021-08-14T20:37:58.497Z,1628973478.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:37:58.497Z,1628973478.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:37:58.499Z,1628973478.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:37:58.901Z,1628973478.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:37:59.309Z,1628973479.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,0040A,183,80,80,92,FF
2021-08-14T20:37:59.309Z,1628973479.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:37:59.355Z,1628973479.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:37:59.737Z,1628973479.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203800.52*50

2021-08-14T20:37:59.780Z,1628973479.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 221.936738 deg, deltaT: 4.391816 s, approachRate: -0.710412 m/s, LOS rate: 0.062750 deg/s, posRepo size: 4
2021-08-14T20:37:59.782Z,1628973479.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.539997 m,
      bearing: 221.936738 deg,
      approachRate: -0.710412 m/s,
      LOS rate: 0.062750 deg/s,
      cmd update: 0.250998 deg/s,
      cmd heading: 222.614558 deg,
      new cmd heading: 222.450741 deg.

2021-08-14T20:38:02.171Z,1628973482.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:02.538Z,1628973482.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:02.538Z,1628973482.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:02.538Z,1628973482.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:02.539Z,1628973482.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:03.001Z,1628973483.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,0040A,183,80,80,92,FF
2021-08-14T20:38:03.001Z,1628973483.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:03.001Z,1628973483.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:03.003Z,1628973483.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:03.397Z,1628973483.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:03.805Z,1628973483.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,003C5,183,80,80,87,FF
2021-08-14T20:38:03.806Z,1628973483.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:03.865Z,1628973483.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:04.301Z,1628973484.301 [Micromodem](INFO): Nmea in: $SNTTA,0.029493,,,,203805.03*4A

2021-08-14T20:38:04.333Z,1628973484.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 221.310587 deg, deltaT: 4.510961 s, approachRate: -0.917764 m/s, LOS rate: -0.138807 deg/s, posRepo size: 4
2021-08-14T20:38:04.335Z,1628973484.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.400002 m,
      bearing: 221.310587 deg,
      approachRate: -0.917764 m/s,
      LOS rate: -0.138807 deg/s,
      cmd update: -0.555226 deg/s,
      cmd heading: 223.746838 deg,
      new cmd heading: 223.871007 deg.

2021-08-14T20:38:06.682Z,1628973486.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:07.005Z,1628973487.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:07.005Z,1628973487.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:07.005Z,1628973487.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:07.006Z,1628973487.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:07.426Z,1628973487.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,003C5,183,80,80,87,FF
2021-08-14T20:38:07.426Z,1628973487.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:07.427Z,1628973487.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:07.430Z,1628973487.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:07.828Z,1628973487.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:07.846Z,1628973487.846 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:38:08.233Z,1628973488.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00391,184,80,80,66,FF
2021-08-14T20:38:08.233Z,1628973488.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:08.295Z,1628973488.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:08.665Z,1628973488.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203809.45*5F

2021-08-14T20:38:08.717Z,1628973488.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 220.885681 deg, deltaT: 4.429409 s, approachRate: -0.704383 m/s, LOS rate: -0.095928 deg/s, posRepo size: 4
2021-08-14T20:38:08.741Z,1628973488.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.280001 m,
      bearing: 220.885681 deg,
      approachRate: -0.704383 m/s,
      LOS rate: -0.095928 deg/s,
      cmd update: -0.383714 deg/s,
      cmd heading: 221.276200 deg,
      new cmd heading: 221.040888 deg.

2021-08-14T20:38:11.099Z,1628973491.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:11.485Z,1628973491.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:11.485Z,1628973491.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:11.485Z,1628973491.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:11.486Z,1628973491.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:11.865Z,1628973491.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00391,184,80,80,66,FF
2021-08-14T20:38:11.865Z,1628973491.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:11.865Z,1628973491.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:11.867Z,1628973491.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:12.277Z,1628973492.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:12.680Z,1628973492.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,0034D,182,80,80,53,FF
2021-08-14T20:38:12.681Z,1628973492.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:12.712Z,1628973492.712 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:13.102Z,1628973493.102 [Micromodem](INFO): Nmea in: $SNTTA,0.357906,0.357781,,,203813.89*55

2021-08-14T20:38:13.139Z,1628973493.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 220.346602 deg, deltaT: 4.417519 s, approachRate: -0.923596 m/s, LOS rate: -0.122032 deg/s, posRepo size: 4
2021-08-14T20:38:13.141Z,1628973493.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 220.346602 deg,
      approachRate: -0.923596 m/s,
      LOS rate: -0.122032 deg/s,
      cmd update: -0.488129 deg/s,
      cmd heading: 219.579694 deg,
      new cmd heading: 219.414891 deg.

2021-08-14T20:38:15.555Z,1628973495.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:15.897Z,1628973495.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:15.897Z,1628973495.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:15.897Z,1628973495.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:15.898Z,1628973495.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:16.306Z,1628973496.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,0034D,182,80,80,53,FF
2021-08-14T20:38:16.306Z,1628973496.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:16.306Z,1628973496.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:16.309Z,1628973496.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:16.807Z,1628973496.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:17.141Z,1628973497.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00314,183,80,80,B7,FF
2021-08-14T20:38:17.142Z,1628973497.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:17.189Z,1628973497.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:17.653Z,1628973497.653 [Micromodem](INFO): Nmea in: $SNTTA,0.030727,,,,203818.33*41

2021-08-14T20:38:17.693Z,1628973497.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 218.856979 deg, deltaT: 4.476716 s, approachRate: -0.763952 m/s, LOS rate: -0.332749 deg/s, posRepo size: 4
2021-08-14T20:38:17.695Z,1628973497.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.780002 m,
      bearing: 218.856979 deg,
      approachRate: -0.763952 m/s,
      LOS rate: -0.332749 deg/s,
      cmd update: -1.330996 deg/s,
      cmd heading: 217.396282 deg,
      new cmd heading: 217.147046 deg.

2021-08-14T20:38:19.150Z,1628973499.150 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:38:19.987Z,1628973499.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:20.343Z,1628973500.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:20.343Z,1628973500.343 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:20.343Z,1628973500.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:20.344Z,1628973500.344 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:20.756Z,1628973500.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00314,183,80,80,B7,FF
2021-08-14T20:38:20.757Z,1628973500.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:20.757Z,1628973500.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:20.763Z,1628973500.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:21.163Z,1628973501.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:21.557Z,1628973501.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002FB,187,80,80,A8,FF
2021-08-14T20:38:21.559Z,1628973501.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:21.629Z,1628973501.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:21.994Z,1628973501.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203822.79*59

2021-08-14T20:38:22.046Z,1628973502.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 221.292815 deg, deltaT: 4.440058 s, approachRate: -0.337834 m/s, LOS rate: 0.548605 deg/s, posRepo size: 4
2021-08-14T20:38:22.048Z,1628973502.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 221.292815 deg,
      approachRate: -0.337834 m/s,
      LOS rate: 0.548605 deg/s,
      cmd update: 2.194419 deg/s,
      cmd heading: 211.486958 deg,
      new cmd heading: 210.922137 deg.

2021-08-14T20:38:24.404Z,1628973504.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:24.804Z,1628973504.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:24.805Z,1628973504.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:24.805Z,1628973504.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:24.807Z,1628973504.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:25.185Z,1628973505.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002FB,187,80,80,A8,FF
2021-08-14T20:38:25.185Z,1628973505.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:25.186Z,1628973505.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:25.187Z,1628973505.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:25.630Z,1628973505.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:26.001Z,1628973506.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,002C9,189,80,80,8C,FF
2021-08-14T20:38:26.002Z,1628973506.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:26.023Z,1628973506.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:26.449Z,1628973506.449 [Micromodem](INFO): Nmea in: $SNTTA,0.028862,,,,203827.22*4A

2021-08-14T20:38:26.489Z,1628973506.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 238.651154 deg, deltaT: 4.393394 s, approachRate: -0.682844 m/s, LOS rate: 3.951009 deg/s, posRepo size: 4
2021-08-14T20:38:26.491Z,1628973506.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 238.651154 deg,
      approachRate: -0.682844 m/s,
      LOS rate: 3.951009 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 221.137188 deg,
      new cmd heading: 222.166083 deg.

2021-08-14T20:38:28.886Z,1628973508.886 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:38:28.913Z,1628973508.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:29.233Z,1628973509.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:29.233Z,1628973509.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:29.233Z,1628973509.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:29.234Z,1628973509.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:29.653Z,1628973509.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,002C9,189,80,80,8C,FF
2021-08-14T20:38:29.653Z,1628973509.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:29.653Z,1628973509.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:29.655Z,1628973509.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:30.053Z,1628973510.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:30.465Z,1628973510.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,002CE,185,80,80,DD,FF
2021-08-14T20:38:30.465Z,1628973510.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:30.485Z,1628973510.485 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:30.939Z,1628973510.939 [Micromodem](INFO): Nmea in: $SNTTA,0.034299,0.400118,,,203831.68*52

2021-08-14T20:38:31.041Z,1628973511.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 218.651472 deg, deltaT: 4.462857 s, approachRate: 0.067222 m/s, LOS rate: -4.481363 deg/s, posRepo size: 4
2021-08-14T20:38:31.043Z,1628973511.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 218.651472 deg,
      approachRate: 0.067222 m/s,
      LOS rate: -4.481363 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.691558 deg,
      new cmd heading: 281.345090 deg.

2021-08-14T20:38:33.288Z,1628973513.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:33.669Z,1628973513.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:33.670Z,1628973513.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:33.670Z,1628973513.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:33.671Z,1628973513.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:34.081Z,1628973514.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,002CE,185,80,80,DD,FF
2021-08-14T20:38:34.082Z,1628973514.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:34.082Z,1628973514.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:34.083Z,1628973514.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:34.507Z,1628973514.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:34.897Z,1628973514.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00309,186,80,80,6E,FF
2021-08-14T20:38:34.898Z,1628973514.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:35.051Z,1628973515.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:35.334Z,1628973515.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203836.11*52

2021-08-14T20:38:35.356Z,1628973515.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 240.260565 deg, deltaT: 4.570302 s, approachRate: 0.774566 m/s, LOS rate: 4.728154 deg/s, posRepo size: 4
2021-08-14T20:38:35.358Z,1628973515.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 240.260565 deg,
      approachRate: 0.774566 m/s,
      LOS rate: 4.728154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 220.040412 deg,
      new cmd heading: 216.206904 deg.

2021-08-14T20:38:37.731Z,1628973517.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:38.117Z,1628973518.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:38.117Z,1628973518.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:38.118Z,1628973518.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:38.119Z,1628973518.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:38.521Z,1628973518.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00309,186,80,80,6E,FF
2021-08-14T20:38:38.521Z,1628973518.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:38.521Z,1628973518.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:38.523Z,1628973518.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:38.942Z,1628973518.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:39.323Z,1628973519.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00330,186,80,80,9E,FF
2021-08-14T20:38:39.323Z,1628973519.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:39.343Z,1628973519.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:39.765Z,1628973519.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203840.55*53

2021-08-14T20:38:39.819Z,1628973519.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 239.492059 deg, deltaT: 4.287926 s, approachRate: 0.545718 m/s, LOS rate: -0.179225 deg/s, posRepo size: 4
2021-08-14T20:38:39.821Z,1628973519.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.492059 deg,
      approachRate: 0.545718 m/s,
      LOS rate: -0.179225 deg/s,
      cmd update: -0.716902 deg/s,
      cmd heading: 271.682342 deg,
      new cmd heading: 277.427186 deg.

2021-08-14T20:38:42.174Z,1628973522.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:42.583Z,1628973522.583 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:42.583Z,1628973522.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:42.588Z,1628973522.588 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:42.588Z,1628973522.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:42.969Z,1628973522.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00330,186,80,80,9E,FF
2021-08-14T20:38:42.969Z,1628973522.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:42.970Z,1628973522.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:42.971Z,1628973522.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:43.362Z,1628973523.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:43.789Z,1628973523.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00372,188,80,80,39,FF
2021-08-14T20:38:43.790Z,1628973523.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:43.860Z,1628973523.860 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:44.213Z,1628973524.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203844.99*57

2021-08-14T20:38:44.245Z,1628973524.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 270.648131 deg, deltaT: 4.516734 s, approachRate: 0.876740 m/s, LOS rate: 6.897920 deg/s, posRepo size: 4
2021-08-14T20:38:44.247Z,1628973524.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 270.648131 deg,
      approachRate: 0.876740 m/s,
      LOS rate: 6.897920 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 268.449895 deg,
      new cmd heading: 268.166308 deg.

2021-08-14T20:38:46.674Z,1628973526.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:47.013Z,1628973527.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:47.013Z,1628973527.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:47.013Z,1628973527.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:47.014Z,1628973527.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:47.418Z,1628973527.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00372,188,80,80,39,FF
2021-08-14T20:38:47.418Z,1628973527.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:47.418Z,1628973527.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:47.421Z,1628973527.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:47.820Z,1628973527.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:48.229Z,1628973528.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,003AA,187,80,80,A5,FF
2021-08-14T20:38:48.229Z,1628973528.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:48.250Z,1628973528.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:48.689Z,1628973528.689 [Micromodem](INFO): Nmea in: $SNTTA,0.060436,,,,203849.45*42

2021-08-14T20:38:48.735Z,1628973528.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 279.656713 deg, deltaT: 4.389335 s, approachRate: 0.765491 m/s, LOS rate: 2.052380 deg/s, posRepo size: 4
2021-08-14T20:38:48.736Z,1628973528.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.78 m. Rolling out.
2021-08-14T20:38:48.737Z,1628973528.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T20:38:49.060Z,1628973529.060 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:38:51.040Z,1628973531.040 [DDM](ERROR): Could not parse whisker state
2021-08-14T20:38:51.095Z,1628973531.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:51.453Z,1628973531.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:51.454Z,1628973531.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:51.454Z,1628973531.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:51.455Z,1628973531.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:51.853Z,1628973531.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,003AA,187,80,80,A5,FF
2021-08-14T20:38:51.854Z,1628973531.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:51.854Z,1628973531.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:51.856Z,1628973531.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:52.265Z,1628973532.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:53.082Z,1628973533.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203853.88*51

2021-08-14T20:38:53.915Z,1628973533.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:55.493Z,1628973535.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,187,80,80,A5,FF
2021-08-14T20:38:55.493Z,1628973535.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,187,80,80,A5,FF
2021-08-14T20:38:55.493Z,1628973535.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:38:56.738Z,1628973536.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:38:57.109Z,1628973537.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:38:57.109Z,1628973537.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:38:57.109Z,1628973537.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:38:57.110Z,1628973537.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:38:57.501Z,1628973537.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,187,80,80,A5,FF
2021-08-14T20:38:57.502Z,1628973537.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:38:57.502Z,1628973537.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:38:57.503Z,1628973537.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:38:57.983Z,1628973537.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:38:58.389Z,1628973538.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00403,186,80,80,2A,FF
2021-08-14T20:38:58.390Z,1628973538.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:38:58.458Z,1628973538.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:38:58.818Z,1628973538.818 [Micromodem](INFO): Nmea in: $SNTTA,0.018044,,,,203859.53*4A

2021-08-14T20:38:58.826Z,1628973538.826 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:38:58.876Z,1628973538.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 314.454314 deg, deltaT: 10.207987 s, approachRate: 0.523120 m/s, LOS rate: 3.408860 deg/s, posRepo size: 4
2021-08-14T20:39:01.212Z,1628973541.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:01.545Z,1628973541.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:01.546Z,1628973541.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:01.546Z,1628973541.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:01.547Z,1628973541.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:01.961Z,1628973541.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00403,186,80,80,2A,FF
2021-08-14T20:39:01.961Z,1628973541.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:01.962Z,1628973541.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:01.963Z,1628973541.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:02.357Z,1628973542.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:02.785Z,1628973542.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F94,000,00430,187,80,80,85,FF
2021-08-14T20:39:02.786Z,1628973542.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:02.827Z,1628973542.827 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:39:02.883Z,1628973542.883 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:03.198Z,1628973543.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203903.99*55

2021-08-14T20:39:03.220Z,1628973543.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 319.946333 deg, deltaT: 4.429762 s, approachRate: 0.609512 m/s, LOS rate: 1.239800 deg/s, posRepo size: 4
2021-08-14T20:39:05.633Z,1628973545.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:05.997Z,1628973545.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:05.997Z,1628973545.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:05.997Z,1628973545.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:05.998Z,1628973545.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:06.401Z,1628973546.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F94,000,00430,187,80,80,85,FF
2021-08-14T20:39:06.401Z,1628973546.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:06.401Z,1628973546.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:06.404Z,1628973546.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:06.857Z,1628973546.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:07.202Z,1628973547.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00453,186,80,80,59,FF
2021-08-14T20:39:07.202Z,1628973547.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:07.252Z,1628973547.252 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:07.661Z,1628973547.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203908.43*59

2021-08-14T20:39:07.688Z,1628973547.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 333.316510 deg, deltaT: 4.364310 s, approachRate: 0.481176 m/s, LOS rate: 3.063526 deg/s, posRepo size: 4
2021-08-14T20:39:08.903Z,1628973548.903 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:39:10.086Z,1628973550.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:10.449Z,1628973550.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:10.449Z,1628973550.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:10.449Z,1628973550.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:10.450Z,1628973550.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:10.865Z,1628973550.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00453,186,80,80,59,FF
2021-08-14T20:39:10.866Z,1628973550.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:10.866Z,1628973550.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:10.897Z,1628973550.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:11.252Z,1628973551.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:11.805Z,1628973551.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00473,186,80,80,91,FF
2021-08-14T20:39:11.806Z,1628973551.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:11.836Z,1628973551.836 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:12.091Z,1628973552.091 [Micromodem](INFO): Nmea in: $SNTTA,0.077606,,,,203912.92*40

2021-08-14T20:39:12.141Z,1628973552.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 330.389228 deg, deltaT: 4.584477 s, approachRate: 0.418804 m/s, LOS rate: -0.638521 deg/s, posRepo size: 4
2021-08-14T20:39:12.507Z,1628973552.507 [PowerOnly](INFO): Powering down loadControl
2021-08-14T20:39:14.495Z,1628973554.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:14.890Z,1628973554.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:14.890Z,1628973554.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:14.891Z,1628973554.891 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:14.891Z,1628973554.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:15.278Z,1628973555.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00473,186,80,80,91,FF
2021-08-14T20:39:15.278Z,1628973555.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:15.278Z,1628973555.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:15.280Z,1628973555.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:15.711Z,1628973555.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:16.101Z,1628973556.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,004A2,186,80,80,4A,FF
2021-08-14T20:39:16.101Z,1628973556.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:16.153Z,1628973556.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:16.542Z,1628973556.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203917.30*53

2021-08-14T20:39:16.605Z,1628973556.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 309.286019 deg, deltaT: 4.316976 s, approachRate: 0.653235 m/s, LOS rate: -4.888424 deg/s, posRepo size: 4
2021-08-14T20:39:19.004Z,1628973559.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:19.337Z,1628973559.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:19.337Z,1628973559.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:19.338Z,1628973559.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:19.338Z,1628973559.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:19.725Z,1628973559.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,004A2,186,80,80,4A,FF
2021-08-14T20:39:19.725Z,1628973559.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:19.725Z,1628973559.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:19.727Z,1628973559.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:20.141Z,1628973560.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:20.539Z,1628973560.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,004CF,187,80,80,94,FF
2021-08-14T20:39:20.539Z,1628973560.539 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:20.614Z,1628973560.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:20.969Z,1628973560.969 [Micromodem](INFO): Nmea in: $SNTTA,0.046442,,,,203921.75*49

2021-08-14T20:39:21.031Z,1628973561.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 341.301274 deg, deltaT: 4.461095 s, approachRate: 0.605233 m/s, LOS rate: 7.176546 deg/s, posRepo size: 4
2021-08-14T20:39:23.401Z,1628973563.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:23.780Z,1628973563.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:23.782Z,1628973563.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:23.783Z,1628973563.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:23.808Z,1628973563.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:23.811Z,1628973563.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,004CF,187,80,80,94,FF
2021-08-14T20:39:23.811Z,1628973563.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:23.811Z,1628973563.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:23.817Z,1628973563.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:24.192Z,1628973564.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:24.593Z,1628973564.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,004F9,186,80,80,5F,FF
2021-08-14T20:39:24.594Z,1628973564.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:24.667Z,1628973564.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:25.145Z,1628973565.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203925.84*5D

2021-08-14T20:39:25.201Z,1628973565.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 332.005578 deg, deltaT: 4.057359 s, approachRate: 0.621093 m/s, LOS rate: -2.291071 deg/s, posRepo size: 4
2021-08-14T20:39:27.499Z,1628973567.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:27.861Z,1628973567.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:27.861Z,1628973567.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:27.861Z,1628973567.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:27.862Z,1628973567.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:28.261Z,1628973568.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,004F9,186,80,80,5F,FF
2021-08-14T20:39:28.261Z,1628973568.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:28.262Z,1628973568.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:28.263Z,1628973568.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:28.669Z,1628973568.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:29.078Z,1628973569.078 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T20:39:29.494Z,1628973569.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203930.29*5E

2021-08-14T20:39:30.303Z,1628973570.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:31.901Z,1628973571.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,084E1,186,80,80,5C,FF
2021-08-14T20:39:31.902Z,1628973571.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:31.952Z,1628973571.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:39:32.336Z,1628973572.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2003.520020 m, bearing: 329.981684 deg, deltaT: 7.280362 s, approachRate: 269.854706 m/s, LOS rate: -0.277994 deg/s, posRepo size: 4
2021-08-14T20:39:32.336Z,1628973572.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2003.52 m. Resuming terminal guidance.
2021-08-14T20:39:32.337Z,1628973572.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T20:39:32.800Z,1628973572.800 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:39:32.801Z,1628973572.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:39:32.802Z,1628973572.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:39:32.809Z,1628973572.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:39:32.809Z,1628973572.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:39:32.809Z,1628973572.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:39:33.161Z,1628973573.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:39:33.161Z,1628973573.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:39:33.161Z,1628973573.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:39:33.161Z,1628973573.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:39:34.828Z,1628973574.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:35.129Z,1628973575.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:35.129Z,1628973575.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:35.129Z,1628973575.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:35.130Z,1628973575.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:35.543Z,1628973575.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,084E1,186,80,80,5C,FF
2021-08-14T20:39:35.543Z,1628973575.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:35.543Z,1628973575.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:35.546Z,1628973575.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:35.940Z,1628973575.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:36.341Z,1628973576.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00585,187,80,80,7E,FF
2021-08-14T20:39:36.341Z,1628973576.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:36.816Z,1628973576.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203937.57*50

2021-08-14T20:39:36.887Z,1628973576.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.280003 m, bearing: 332.230783 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T20:39:36.888Z,1628973576.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 332.230783deg and heading rate command to 0 deg/s.
2021-08-14T20:39:38.964Z,1628973578.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:39.217Z,1628973579.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:39.217Z,1628973579.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:39.217Z,1628973579.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:39.218Z,1628973579.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:39.650Z,1628973579.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00585,187,80,80,7E,FF
2021-08-14T20:39:39.650Z,1628973579.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:39.650Z,1628973579.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:39.652Z,1628973579.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:40.081Z,1628973580.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:40.481Z,1628973580.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,005B3,185,80,80,9C,FF
2021-08-14T20:39:40.482Z,1628973580.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:40.917Z,1628973580.917 [Micromodem](INFO): Nmea in: $SNTTA,0.062029,,,,203941.68*4C

2021-08-14T20:39:41.082Z,1628973581.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 337.949400 deg, deltaT: 4.138679 s, approachRate: 0.666878 m/s, LOS rate: 1.381749 deg/s, posRepo size: 2
2021-08-14T20:39:41.084Z,1628973581.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.039997 m,
      bearing: 337.949400 deg,
      approachRate: 0.666878 m/s,
      LOS rate: 1.381749 deg/s,
      cmd update: 5.526997 deg/s,
      cmd heading: 332.230783 deg,
      new cmd heading: 332.230783 deg.

2021-08-14T20:39:43.327Z,1628973583.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:43.709Z,1628973583.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:43.709Z,1628973583.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:43.710Z,1628973583.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:43.711Z,1628973583.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:44.113Z,1628973584.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,005B3,185,80,80,9C,FF
2021-08-14T20:39:44.113Z,1628973584.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:44.114Z,1628973584.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:44.115Z,1628973584.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:44.526Z,1628973584.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:44.917Z,1628973584.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,005E3,189,80,80,95,FF
2021-08-14T20:39:44.918Z,1628973584.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:45.369Z,1628973585.369 [Micromodem](INFO): Nmea in: $SNTTA,0.046383,,,,203946.14*45

2021-08-14T20:39:45.392Z,1628973585.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 358.095480 deg, deltaT: 4.520911 s, approachRate: 0.637039 m/s, LOS rate: 4.456199 deg/s, posRepo size: 3
2021-08-14T20:39:45.394Z,1628973585.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.919994 m,
      bearing: 358.095480 deg,
      approachRate: 0.637039 m/s,
      LOS rate: 4.456199 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.158347 deg,
      new cmd heading: 359.276105 deg.

2021-08-14T20:39:47.805Z,1628973587.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:48.161Z,1628973588.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:48.161Z,1628973588.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:48.161Z,1628973588.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:48.162Z,1628973588.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:48.577Z,1628973588.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,005E3,189,80,80,95,FF
2021-08-14T20:39:48.578Z,1628973588.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:48.579Z,1628973588.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:48.592Z,1628973588.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:49.021Z,1628973589.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:49.418Z,1628973589.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,0060C,186,80,80,81,FF
2021-08-14T20:39:49.418Z,1628973589.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:49.845Z,1628973589.845 [Micromodem](INFO): Nmea in: $SNTTA,0.049280,,,,203950.62*4E

2021-08-14T20:39:49.903Z,1628973589.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.379993 m, bearing: 359.986705 deg, deltaT: 4.448672 s, approachRate: 0.552974 m/s, LOS rate: 0.425121 deg/s, posRepo size: 4
2021-08-14T20:39:49.906Z,1628973589.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.379993 m,
      bearing: 359.986705 deg,
      approachRate: 0.552974 m/s,
      LOS rate: 0.425121 deg/s,
      cmd update: 1.700485 deg/s,
      cmd heading: 50.623185 deg,
      new cmd heading: 55.881177 deg.

2021-08-14T20:39:51.999Z,1628973591.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:52.285Z,1628973592.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:52.285Z,1628973592.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:52.285Z,1628973592.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:52.286Z,1628973592.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:52.677Z,1628973592.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,0060C,186,80,80,81,FF
2021-08-14T20:39:52.677Z,1628973592.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:52.677Z,1628973592.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:52.679Z,1628973592.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:53.141Z,1628973593.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:53.517Z,1628973593.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0061F,189,80,80,5F,FF
2021-08-14T20:39:53.518Z,1628973593.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:53.945Z,1628973593.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203954.70*50

2021-08-14T20:39:53.982Z,1628973593.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.520000 m, bearing: 333.896284 deg, deltaT: 4.149257 s, approachRate: 0.274750 m/s, LOS rate: -6.287974 deg/s, posRepo size: 4
2021-08-14T20:39:53.986Z,1628973593.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.520000 m,
      bearing: 333.896284 deg,
      approachRate: 0.274750 m/s,
      LOS rate: -6.287974 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 57.671900 deg,
      new cmd heading: 58.304112 deg.

2021-08-14T20:39:56.359Z,1628973596.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:39:56.746Z,1628973596.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:39:56.746Z,1628973596.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:39:56.746Z,1628973596.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:39:56.747Z,1628973596.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:39:57.153Z,1628973597.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0061F,189,80,80,5F,FF
2021-08-14T20:39:57.154Z,1628973597.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:39:57.154Z,1628973597.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:39:57.156Z,1628973597.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:39:57.588Z,1628973597.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:39:57.957Z,1628973597.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00632,186,80,80,84,FF
2021-08-14T20:39:57.958Z,1628973597.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:39:58.393Z,1628973598.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203959.18*53

2021-08-14T20:39:58.441Z,1628973598.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.660007 m, bearing: 47.359138 deg, deltaT: 4.357229 s, approachRate: 0.261636 m/s, LOS rate: 16.859994 deg/s, posRepo size: 4
2021-08-14T20:39:58.442Z,1628973598.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.859994 deg/s. Setting heading cmd to target bearing of 47.359138deg and heading rate command to 0 deg/s.
2021-08-14T20:40:00.895Z,1628973600.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:01.193Z,1628973601.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:01.193Z,1628973601.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:01.193Z,1628973601.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:01.194Z,1628973601.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:01.629Z,1628973601.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00632,186,80,80,84,FF
2021-08-14T20:40:01.629Z,1628973601.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:01.629Z,1628973601.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:01.631Z,1628973601.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:02.004Z,1628973602.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:02.414Z,1628973602.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D55,000,00631,189,80,80,6B,FF
2021-08-14T20:40:02.415Z,1628973602.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:02.867Z,1628973602.867 [Micromodem](INFO): Nmea in: $SNTTA,0.050450,,,,204003.65*42

2021-08-14T20:40:02.972Z,1628973602.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 61.717296 deg, deltaT: 4.466629 s, approachRate: -0.013434 m/s, LOS rate: 3.214540 deg/s, posRepo size: 4
2021-08-14T20:40:02.974Z,1628973602.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 61.717296 deg,
      approachRate: -0.013434 m/s,
      LOS rate: 3.214540 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 47.359138 deg,
      new cmd heading: 47.359138 deg.

2021-08-14T20:40:04.000Z,1628973605.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:05.317Z,1628973605.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:05.317Z,1628973605.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:05.317Z,1628973605.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:05.318Z,1628973605.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:05.669Z,1628973605.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D55,000,00631,189,80,80,6B,FF
2021-08-14T20:40:05.669Z,1628973605.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:05.669Z,1628973605.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:05.671Z,1628973605.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:06.065Z,1628973606.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:06.445Z,1628973606.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,0063E,185,80,80,73,FF
2021-08-14T20:40:06.446Z,1628973606.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:06.889Z,1628973606.889 [Micromodem](INFO): Nmea in: $SNTTA,0.044738,,,,204007.70*4A

2021-08-14T20:40:06.979Z,1628973606.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 35.970600 deg, deltaT: 4.026796 s, approachRate: 0.193702 m/s, LOS rate: -6.393841 deg/s, posRepo size: 4
2021-08-14T20:40:06.991Z,1628973606.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.380001 m,
      bearing: 35.970600 deg,
      approachRate: 0.193702 m/s,
      LOS rate: -6.393841 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 95.687220 deg,
      new cmd heading: 101.724756 deg.

2021-08-14T20:40:08.990Z,1628973608.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:09.269Z,1628973609.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:09.269Z,1628973609.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:09.269Z,1628973609.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:09.270Z,1628973609.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:09.689Z,1628973609.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,0063E,185,80,80,73,FF
2021-08-14T20:40:09.689Z,1628973609.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:09.689Z,1628973609.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:09.691Z,1628973609.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:10.109Z,1628973610.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:10.505Z,1628973610.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0064B,187,80,80,87,FF
2021-08-14T20:40:10.506Z,1628973610.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:10.947Z,1628973610.947 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204011.72*5D

2021-08-14T20:40:11.016Z,1628973611.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.159996 m, bearing: 52.411412 deg, deltaT: 4.126368 s, approachRate: 0.189027 m/s, LOS rate: 3.984330 deg/s, posRepo size: 4
2021-08-14T20:40:11.018Z,1628973611.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 52.411412 deg,
      approachRate: 0.189027 m/s,
      LOS rate: 3.984330 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.219174 deg,
      new cmd heading: 41.109334 deg.

2021-08-14T20:40:13.353Z,1628973613.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:13.733Z,1628973613.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:13.733Z,1628973613.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:13.734Z,1628973613.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:13.735Z,1628973613.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:14.137Z,1628973614.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0064B,187,80,80,87,FF
2021-08-14T20:40:14.137Z,1628973614.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:14.138Z,1628973614.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:14.139Z,1628973614.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:14.540Z,1628973614.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:14.941Z,1628973614.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,0064E,189,80,80,98,FF
2021-08-14T20:40:14.941Z,1628973614.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:15.378Z,1628973615.378 [Micromodem](INFO): Nmea in: $SNTTA,0.066221,,,,204016.16*47

2021-08-14T20:40:15.414Z,1628973615.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 86.423661 deg, deltaT: 4.444067 s, approachRate: 0.040506 m/s, LOS rate: 7.653406 deg/s, posRepo size: 4
2021-08-14T20:40:15.417Z,1628973615.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.340008 m,
      bearing: 86.423661 deg,
      approachRate: 0.040506 m/s,
      LOS rate: 7.653406 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 99.547980 deg,
      new cmd heading: 104.085948 deg.

2021-08-14T20:40:17.811Z,1628973617.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:18.173Z,1628973618.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:18.173Z,1628973618.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:18.173Z,1628973618.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:18.174Z,1628973618.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:18.745Z,1628973618.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,0064E,189,80,80,98,FF
2021-08-14T20:40:18.745Z,1628973618.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:18.746Z,1628973618.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:18.749Z,1628973618.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:19.137Z,1628973619.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:19.546Z,1628973619.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00642,189,80,80,BA,FF
2021-08-14T20:40:19.546Z,1628973619.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:19.957Z,1628973619.957 [Micromodem](INFO): Nmea in: $SNTTA,0.038795,,,,204020.78*4B

2021-08-14T20:40:20.004Z,1628973620.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 121.665244 deg, deltaT: 4.579939 s, approachRate: -0.157208 m/s, LOS rate: 7.694772 deg/s, posRepo size: 4
2021-08-14T20:40:20.007Z,1628973620.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.620003 m,
      bearing: 121.665244 deg,
      approachRate: -0.157208 m/s,
      LOS rate: 7.694772 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.441741 deg,
      new cmd heading: 159.169754 deg.

2021-08-14T20:40:22.356Z,1628973622.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:22.745Z,1628973622.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:22.745Z,1628973622.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:22.746Z,1628973622.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:22.747Z,1628973622.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:23.137Z,1628973623.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00642,189,80,80,BA,FF
2021-08-14T20:40:23.137Z,1628973623.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:23.137Z,1628973623.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:23.139Z,1628973623.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:23.569Z,1628973623.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:23.958Z,1628973623.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC8,000,0062C,189,80,80,AA,FF
2021-08-14T20:40:23.958Z,1628973623.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:24.389Z,1628973624.389 [Micromodem](INFO): Nmea in: $SNTTA,0.082175,,,,204025.16*4F

2021-08-14T20:40:24.441Z,1628973624.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 115.740233 deg, deltaT: 4.361281 s, approachRate: -0.302664 m/s, LOS rate: -1.358548 deg/s, posRepo size: 4
2021-08-14T20:40:24.443Z,1628973624.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 115.740233 deg,
      approachRate: -0.302664 m/s,
      LOS rate: -1.358548 deg/s,
      cmd update: -5.434194 deg/s,
      cmd heading: 206.890863 deg,
      new cmd heading: 212.141187 deg.

2021-08-14T20:40:26.890Z,1628973626.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:27.173Z,1628973627.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:27.174Z,1628973627.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:27.174Z,1628973627.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:27.175Z,1628973627.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:27.595Z,1628973627.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC8,000,0062C,189,80,80,AA,FF
2021-08-14T20:40:27.595Z,1628973627.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:27.595Z,1628973627.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:27.597Z,1628973627.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:27.989Z,1628973627.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:28.402Z,1628973628.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D84,000,0060F,189,80,80,78,FF
2021-08-14T20:40:28.402Z,1628973628.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:28.881Z,1628973628.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204029.62*57

2021-08-14T20:40:28.947Z,1628973628.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 120.739972 deg, deltaT: 4.451633 s, approachRate: -0.390866 m/s, LOS rate: 1.123125 deg/s, posRepo size: 4
2021-08-14T20:40:28.949Z,1628973628.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 120.739972 deg,
      approachRate: -0.390866 m/s,
      LOS rate: 1.123125 deg/s,
      cmd update: 4.492499 deg/s,
      cmd heading: 182.714565 deg,
      new cmd heading: 179.897142 deg.

2021-08-14T20:40:31.231Z,1628973631.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:31.656Z,1628973631.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:31.656Z,1628973631.656 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:31.657Z,1628973631.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:31.657Z,1628973631.657 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:32.165Z,1628973632.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D84,000,0060F,189,80,80,78,FF
2021-08-14T20:40:32.165Z,1628973632.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:32.165Z,1628973632.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:32.167Z,1628973632.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:32.513Z,1628973632.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:32.885Z,1628973632.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,005EC,186,80,80,C4,FF
2021-08-14T20:40:32.885Z,1628973632.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:33.307Z,1628973633.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 121.823623 deg, deltaT: 4.545560 s, approachRate: -0.461990 m/s, LOS rate: 0.238398 deg/s, posRepo size: 4
2021-08-14T20:40:33.309Z,1628973633.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.460003 m,
      bearing: 121.823623 deg,
      approachRate: -0.461990 m/s,
      LOS rate: 0.238398 deg/s,
      cmd update: 0.953590 deg/s,
      cmd heading: 203.107843 deg,
      new cmd heading: 204.630953 deg.

2021-08-14T20:40:33.678Z,1628973633.678 [Micromodem](INFO): Nmea in: $SNTTA,0.063667,,,,204034.19*4B

2021-08-14T20:40:35.729Z,1628973635.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:36.081Z,1628973636.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:36.082Z,1628973636.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:36.082Z,1628973636.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:36.083Z,1628973636.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:36.501Z,1628973636.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,005EC,186,80,80,C4,FF
2021-08-14T20:40:36.501Z,1628973636.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:36.501Z,1628973636.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:36.503Z,1628973636.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:36.893Z,1628973636.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:37.289Z,1628973637.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,005C8,187,80,80,AB,FF
2021-08-14T20:40:37.290Z,1628973637.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:37.717Z,1628973637.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204038.53*55

2021-08-14T20:40:37.763Z,1628973637.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 118.500831 deg, deltaT: 4.333552 s, approachRate: -0.498438 m/s, LOS rate: -0.766759 deg/s, posRepo size: 4
2021-08-14T20:40:37.765Z,1628973637.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 118.500831 deg,
      approachRate: -0.498438 m/s,
      LOS rate: -0.766759 deg/s,
      cmd update: -3.067037 deg/s,
      cmd heading: 207.248772 deg,
      new cmd heading: 207.680165 deg.

2021-08-14T20:40:40.149Z,1628973640.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:40.530Z,1628973640.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:40.531Z,1628973640.531 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:40.531Z,1628973640.531 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:40.533Z,1628973640.533 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:40.922Z,1628973640.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,005C8,187,80,80,AB,FF
2021-08-14T20:40:40.922Z,1628973640.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:40.922Z,1628973640.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:40.924Z,1628973640.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:41.336Z,1628973641.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:41.733Z,1628973641.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,005A0,188,80,80,9A,FF
2021-08-14T20:40:41.734Z,1628973641.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:42.173Z,1628973642.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204042.95*52

2021-08-14T20:40:42.209Z,1628973642.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 111.083922 deg, deltaT: 4.474999 s, approachRate: -0.536312 m/s, LOS rate: -1.657410 deg/s, posRepo size: 4
2021-08-14T20:40:42.210Z,1628973642.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.900002 m,
      bearing: 111.083922 deg,
      approachRate: -0.536312 m/s,
      LOS rate: -1.657410 deg/s,
      cmd update: -6.629641 deg/s,
      cmd heading: 193.530840 deg,
      new cmd heading: 192.226429 deg.

2021-08-14T20:40:44.630Z,1628973644.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:44.961Z,1628973644.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:44.962Z,1628973644.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:44.962Z,1628973644.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:44.963Z,1628973644.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:45.517Z,1628973645.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,005A0,188,80,80,9A,FF
2021-08-14T20:40:45.517Z,1628973645.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:45.517Z,1628973645.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:45.519Z,1628973645.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:45.809Z,1628973645.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:46.209Z,1628973646.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,00582,18A,80,80,B4,FF
2021-08-14T20:40:46.209Z,1628973646.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:46.663Z,1628973646.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 106.856739 deg, deltaT: 4.465396 s, approachRate: -0.403100 m/s, LOS rate: -0.946654 deg/s, posRepo size: 4
2021-08-14T20:40:46.665Z,1628973646.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.100002 m,
      bearing: 106.856739 deg,
      approachRate: -0.403100 m/s,
      LOS rate: -0.946654 deg/s,
      cmd update: -3.786615 deg/s,
      cmd heading: 163.939013 deg,
      new cmd heading: 161.177502 deg.

2021-08-14T20:40:47.009Z,1628973647.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204047.54*5A

2021-08-14T20:40:49.094Z,1628973649.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:49.419Z,1628973649.419 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:49.419Z,1628973649.419 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:49.420Z,1628973649.420 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:49.421Z,1628973649.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:49.818Z,1628973649.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E3,000,00582,18A,80,80,B4,FF
2021-08-14T20:40:49.818Z,1628973649.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:49.818Z,1628973649.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:49.820Z,1628973649.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:50.229Z,1628973650.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:50.635Z,1628973650.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00571,189,80,80,72,FF
2021-08-14T20:40:50.635Z,1628973650.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:51.073Z,1628973651.073 [Micromodem](INFO): Nmea in: $SNTTA,0.420271,,,,204051.85*4D

2021-08-14T20:40:51.133Z,1628973651.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 102.185579 deg, deltaT: 4.464077 s, approachRate: -0.228491 m/s, LOS rate: -1.046389 deg/s, posRepo size: 4
2021-08-14T20:40:51.135Z,1628973651.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.080002 m,
      bearing: 102.185579 deg,
      approachRate: -0.228491 m/s,
      LOS rate: -1.046389 deg/s,
      cmd update: -4.185554 deg/s,
      cmd heading: 147.080387 deg,
      new cmd heading: 145.438015 deg.

2021-08-14T20:40:53.490Z,1628973653.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:53.860Z,1628973653.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:40:53.861Z,1628973653.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:40:53.863Z,1628973653.863 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:40:53.890Z,1628973653.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:40:54.274Z,1628973654.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00571,189,80,80,72,FF
2021-08-14T20:40:54.274Z,1628973654.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:40:54.274Z,1628973654.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:40:54.276Z,1628973654.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:40:54.669Z,1628973654.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:40:55.494Z,1628973655.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204056.30*58

2021-08-14T20:40:56.301Z,1628973656.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:40:57.094Z,1628973657.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,06B9D,188,80,80,9D,FF
2021-08-14T20:40:57.094Z,1628973657.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:40:57.550Z,1628973657.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1615.439941 m, bearing: 104.944477 deg, deltaT: 6.455859 s, approachRate: 243.090805 m/s, LOS rate: 0.427348 deg/s, posRepo size: 4
2021-08-14T20:40:57.552Z,1628973657.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1615.439941 m,
      bearing: 104.944477 deg,
      approachRate: 243.090805 m/s,
      LOS rate: 0.427348 deg/s,
      cmd update: 1.709392 deg/s,
      cmd heading: 119.992467 deg,
      new cmd heading: 118.403534 deg.

2021-08-14T20:40:59.992Z,1628973659.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:00.342Z,1628973660.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:00.342Z,1628973660.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:00.342Z,1628973660.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:00.343Z,1628973660.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:00.744Z,1628973660.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,06B9D,188,80,80,9D,FF
2021-08-14T20:41:00.744Z,1628973660.744 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:00.744Z,1628973660.744 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:00.766Z,1628973660.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:01.149Z,1628973661.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:01.534Z,1628973661.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,0052D,189,80,80,9D,FF
2021-08-14T20:41:01.534Z,1628973661.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:01.965Z,1628973661.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204102.80*53

2021-08-14T20:41:02.141Z,1628973662.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 97.093099 deg, deltaT: 4.462149 s, approachRate: -352.619324 m/s, LOS rate: -1.759551 deg/s, posRepo size: 4
2021-08-14T20:41:02.143Z,1628973662.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.000000 m,
      bearing: 97.093099 deg,
      approachRate: -352.619324 m/s,
      LOS rate: -1.759551 deg/s,
      cmd update: -7.038203 deg/s,
      cmd heading: 127.606117 deg,
      new cmd heading: 128.489854 deg.

2021-08-14T20:41:04.407Z,1628973664.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:04.785Z,1628973664.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:04.785Z,1628973664.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:04.786Z,1628973664.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:04.806Z,1628973664.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:05.178Z,1628973665.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,0052D,189,80,80,9D,FF
2021-08-14T20:41:05.178Z,1628973665.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:05.178Z,1628973665.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:05.180Z,1628973665.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:05.614Z,1628973665.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:05.981Z,1628973665.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,0050D,189,80,80,8C,FF
2021-08-14T20:41:05.982Z,1628973665.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:06.423Z,1628973666.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204107.21*5D

2021-08-14T20:41:06.469Z,1628973666.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 92.429105 deg, deltaT: 4.398264 s, approachRate: -0.436535 m/s, LOS rate: -1.060417 deg/s, posRepo size: 4
2021-08-14T20:41:06.471Z,1628973666.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.080002 m,
      bearing: 92.429105 deg,
      approachRate: -0.436535 m/s,
      LOS rate: -1.060417 deg/s,
      cmd update: -4.241669 deg/s,
      cmd heading: 96.797925 deg,
      new cmd heading: 93.516743 deg.

2021-08-14T20:41:08.975Z,1628973668.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:09.217Z,1628973669.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:09.217Z,1628973669.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:09.217Z,1628973669.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:09.218Z,1628973669.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:09.633Z,1628973669.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,0050D,189,80,80,8C,FF
2021-08-14T20:41:09.633Z,1628973669.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:09.633Z,1628973669.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:09.635Z,1628973669.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:10.020Z,1628973670.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:10.434Z,1628973670.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08B,000,004E7,186,80,80,5D,FF
2021-08-14T20:41:10.435Z,1628973670.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:10.885Z,1628973670.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204111.66*59

2021-08-14T20:41:10.965Z,1628973670.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 101.641261 deg, deltaT: 4.422045 s, approachRate: -0.515599 m/s, LOS rate: 2.083234 deg/s, posRepo size: 4
2021-08-14T20:41:10.966Z,1628973670.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.80 m.
2021-08-14T20:41:10.972Z,1628973670.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.799999 m,
      bearing: 101.641261 deg,
      approachRate: -0.515599 m/s,
      LOS rate: 2.083234 deg/s,
      cmd update: 8.332938 deg/s,
      cmd heading: 77.918393 deg,
      new cmd heading: 75.814750 deg.

2021-08-14T20:41:11.285Z,1628973671.285 [PowerOnly](INFO): Powering up loadControl
2021-08-14T20:41:11.348Z,1628973671.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-14T20:41:11.348Z,1628973671.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:41:11.348Z,1628973671.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-14T20:41:11.349Z,1628973671.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-14T20:41:11.349Z,1628973671.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-14T20:41:11.349Z,1628973671.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-14T20:41:11.712Z,1628973671.712 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-14T20:41:11.712Z,1628973671.712 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:41:11.712Z,1628973671.712 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-14T20:41:11.713Z,1628973671.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-14T20:41:12.096Z,1628973672.096 [DDM](ERROR): Could not parse whisker state
2021-08-14T20:41:13.014Z,1628973673.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:13.280Z,1628973673.280 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:13.280Z,1628973673.280 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:13.281Z,1628973673.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:13.281Z,1628973673.281 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:13.665Z,1628973673.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08B,000,004E7,186,80,80,5D,FF
2021-08-14T20:41:13.665Z,1628973673.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:13.665Z,1628973673.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:13.667Z,1628973673.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:14.056Z,1628973674.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:14.465Z,1628973674.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,004C6,187,80,80,A3,FF
2021-08-14T20:41:14.466Z,1628973674.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:14.487Z,1628973674.487 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:14.893Z,1628973674.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204115.70*5A

2021-08-14T20:41:14.966Z,1628973674.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 101.716973 deg, deltaT: 4.030943 s, approachRate: -0.491200 m/s, LOS rate: 0.018783 deg/s, posRepo size: 4
2021-08-14T20:41:14.966Z,1628973674.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.82 m.
2021-08-14T20:41:14.978Z,1628973674.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.820000 m,
      bearing: 101.716973 deg,
      approachRate: -0.491200 m/s,
      LOS rate: 0.018783 deg/s,
      cmd update: 0.075131 deg/s,
      cmd heading: 111.506273 deg,
      new cmd heading: 115.524957 deg.

2021-08-14T20:41:17.308Z,1628973677.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:17.689Z,1628973677.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:17.690Z,1628973677.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:17.690Z,1628973677.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:17.691Z,1628973677.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:18.093Z,1628973678.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,004C6,187,80,80,A3,FF
2021-08-14T20:41:18.093Z,1628973678.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:18.093Z,1628973678.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:18.095Z,1628973678.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:18.525Z,1628973678.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:18.949Z,1628973678.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,004A1,186,80,80,6E,FF
2021-08-14T20:41:18.949Z,1628973678.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:19.033Z,1628973679.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:19.362Z,1628973679.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204120.12*58

2021-08-14T20:41:19.381Z,1628973679.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.600002 m, bearing: 102.490581 deg, deltaT: 4.546108 s, approachRate: -0.488329 m/s, LOS rate: 0.170169 deg/s, posRepo size: 4
2021-08-14T20:41:19.381Z,1628973679.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.60 m.
2021-08-14T20:41:19.384Z,1628973679.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 102.490581 deg,
      approachRate: -0.488329 m/s,
      LOS rate: 0.170169 deg/s,
      cmd update: 0.680677 deg/s,
      cmd heading: 111.847534 deg,
      new cmd heading: 111.874210 deg.

2021-08-14T20:41:21.784Z,1628973681.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:22.145Z,1628973682.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:22.145Z,1628973682.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:22.145Z,1628973682.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:22.146Z,1628973682.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:22.537Z,1628973682.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,004A1,186,80,80,6E,FF
2021-08-14T20:41:22.537Z,1628973682.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:22.537Z,1628973682.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:22.539Z,1628973682.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:22.953Z,1628973682.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:23.350Z,1628973683.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,0047D,186,80,80,99,FF
2021-08-14T20:41:23.350Z,1628973683.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:23.371Z,1628973683.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:23.789Z,1628973683.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204124.56*5C

2021-08-14T20:41:23.842Z,1628973683.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 99.010627 deg, deltaT: 4.338592 s, approachRate: -0.497857 m/s, LOS rate: -0.802093 deg/s, posRepo size: 4
2021-08-14T20:41:23.843Z,1628973683.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.44 m.
2021-08-14T20:41:23.845Z,1628973683.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.440002 m,
      bearing: 99.010627 deg,
      approachRate: -0.497857 m/s,
      LOS rate: -0.802093 deg/s,
      cmd update: -3.208372 deg/s,
      cmd heading: 114.803236 deg,
      new cmd heading: 115.126035 deg.

2021-08-14T20:41:25.742Z,1628973685.742 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-14T20:41:25.753Z,1628973685.753 [BPC1](INFO): Received data from all battery sticks.
2021-08-14T20:41:26.198Z,1628973686.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:26.597Z,1628973686.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:26.597Z,1628973686.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:26.597Z,1628973686.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:26.598Z,1628973686.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:26.985Z,1628973686.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,0047D,186,80,80,99,FF
2021-08-14T20:41:26.985Z,1628973686.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:26.986Z,1628973686.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:26.987Z,1628973686.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:27.389Z,1628973687.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:27.797Z,1628973687.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12F,000,0045C,185,80,80,6B,FF
2021-08-14T20:41:27.798Z,1628973687.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:27.857Z,1628973687.857 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:28.225Z,1628973688.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204129.02*50

2021-08-14T20:41:28.269Z,1628973688.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 96.863298 deg, deltaT: 4.485626 s, approachRate: -0.441410 m/s, LOS rate: -0.478713 deg/s, posRepo size: 4
2021-08-14T20:41:28.269Z,1628973688.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.46 m.
2021-08-14T20:41:28.270Z,1628973688.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.46 m.
2021-08-14T20:41:28.270Z,1628973688.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-14T20:41:28.276Z,1628973688.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.460001 m,
      bearing: 96.863298 deg,
      approachRate: -0.441410 m/s,
      LOS rate: -0.478713 deg/s,
      cmd update: -1.914854 deg/s,
      cmd heading: 100.423284 deg,
      new cmd heading: 99.093655 deg.

2021-08-14T20:41:30.647Z,1628973690.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:31.021Z,1628973691.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:31.021Z,1628973691.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:31.021Z,1628973691.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:31.022Z,1628973691.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:31.422Z,1628973691.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12F,000,0045C,185,80,80,6B,FF
2021-08-14T20:41:31.422Z,1628973691.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:31.422Z,1628973691.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:31.425Z,1628973691.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:31.841Z,1628973691.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:32.234Z,1628973692.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00438,185,80,80,7F,FF
2021-08-14T20:41:32.234Z,1628973692.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:32.294Z,1628973692.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:32.677Z,1628973692.677 [Micromodem](INFO): Nmea in: $SNTTA,0.041113,,,,204133.45*40

2021-08-14T20:41:32.707Z,1628973692.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 99.213033 deg, deltaT: 4.437364 s, approachRate: -0.486775 m/s, LOS rate: 0.529534 deg/s, posRepo size: 4
2021-08-14T20:41:32.737Z,1628973692.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 99.213033 deg,
      approachRate: -0.486775 m/s,
      LOS rate: 0.529534 deg/s,
      cmd update: 2.118136 deg/s,
      cmd heading: 91.926381 deg,
      new cmd heading: 91.121897 deg.

2021-08-14T20:41:35.127Z,1628973695.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:35.473Z,1628973695.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:35.473Z,1628973695.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:35.473Z,1628973695.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:35.474Z,1628973695.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:35.877Z,1628973695.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00438,185,80,80,7F,FF
2021-08-14T20:41:35.877Z,1628973695.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:35.877Z,1628973695.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:35.879Z,1628973695.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:36.296Z,1628973696.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:36.673Z,1628973696.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00415,186,80,80,92,FF
2021-08-14T20:41:36.674Z,1628973696.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:36.746Z,1628973696.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:37.109Z,1628973697.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204137.91*55

2021-08-14T20:41:37.159Z,1628973697.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 101.415434 deg, deltaT: 4.452230 s, approachRate: -0.471674 m/s, LOS rate: 0.494674 deg/s, posRepo size: 4
2021-08-14T20:41:37.162Z,1628973697.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 101.415434 deg,
      approachRate: -0.471674 m/s,
      LOS rate: 0.494674 deg/s,
      cmd update: 1.978695 deg/s,
      cmd heading: 101.338889 deg,
      new cmd heading: 102.246046 deg.

2021-08-14T20:41:39.532Z,1628973699.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:39.917Z,1628973699.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:39.917Z,1628973699.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:39.917Z,1628973699.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:39.918Z,1628973699.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:40.309Z,1628973700.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00415,186,80,80,92,FF
2021-08-14T20:41:40.309Z,1628973700.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:40.310Z,1628973700.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:40.311Z,1628973700.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:40.725Z,1628973700.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:41.136Z,1628973701.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,003F1,185,80,80,4C,FF
2021-08-14T20:41:41.137Z,1628973701.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:41.209Z,1628973701.209 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:41.569Z,1628973701.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204142.34*58

2021-08-14T20:41:41.642Z,1628973701.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 95.093302 deg, deltaT: 4.462729 s, approachRate: -0.484009 m/s, LOS rate: -1.416652 deg/s, posRepo size: 4
2021-08-14T20:41:41.643Z,1628973701.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.039999 m,
      bearing: 95.093302 deg,
      approachRate: -0.484009 m/s,
      LOS rate: -1.416652 deg/s,
      cmd update: -5.666607 deg/s,
      cmd heading: 110.146578 deg,
      new cmd heading: 111.045577 deg.

2021-08-14T20:41:44.074Z,1628973704.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:44.353Z,1628973704.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:44.354Z,1628973704.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:44.354Z,1628973704.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:44.355Z,1628973704.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:44.777Z,1628973704.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,003F1,185,80,80,4C,FF
2021-08-14T20:41:44.777Z,1628973704.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:44.778Z,1628973704.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:44.797Z,1628973704.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:45.173Z,1628973705.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:45.588Z,1628973705.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,003D0,186,80,80,8A,FF
2021-08-14T20:41:45.588Z,1628973705.588 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:45.652Z,1628973705.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:45.995Z,1628973705.995 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204146.82*51

2021-08-14T20:41:46.038Z,1628973706.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 94.959779 deg, deltaT: 4.442680 s, approachRate: -0.445677 m/s, LOS rate: -0.030055 deg/s, posRepo size: 4
2021-08-14T20:41:46.040Z,1628973706.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 94.959779 deg,
      approachRate: -0.445677 m/s,
      LOS rate: -0.030055 deg/s,
      cmd update: -0.120219 deg/s,
      cmd heading: 84.883950 deg,
      new cmd heading: 82.630868 deg.

2021-08-14T20:41:48.439Z,1628973708.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:48.850Z,1628973708.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:48.850Z,1628973708.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:48.850Z,1628973708.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:48.851Z,1628973708.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:49.205Z,1628973709.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,003D0,186,80,80,8A,FF
2021-08-14T20:41:49.205Z,1628973709.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:49.205Z,1628973709.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:49.207Z,1628973709.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:49.649Z,1628973709.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:50.006Z,1628973710.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,003AB,183,80,80,76,FF
2021-08-14T20:41:50.006Z,1628973710.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:50.059Z,1628973710.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:50.458Z,1628973710.458 [Micromodem](INFO): Nmea in: $SNTTA,0.031591,,,,204151.23*4D

2021-08-14T20:41:50.480Z,1628973710.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 92.078272 deg, deltaT: 4.406658 s, approachRate: -0.503783 m/s, LOS rate: -0.653898 deg/s, posRepo size: 4
2021-08-14T20:41:50.482Z,1628973710.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 92.078272 deg,
      approachRate: -0.503783 m/s,
      LOS rate: -0.653898 deg/s,
      cmd update: -2.615594 deg/s,
      cmd heading: 84.353652 deg,
      new cmd heading: 84.302196 deg.

2021-08-14T20:41:52.944Z,1628973712.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:53.241Z,1628973713.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:53.241Z,1628973713.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:53.241Z,1628973713.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:53.242Z,1628973713.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:53.642Z,1628973713.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,003AB,183,80,80,76,FF
2021-08-14T20:41:53.643Z,1628973713.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:53.643Z,1628973713.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:53.646Z,1628973713.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:54.060Z,1628973714.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:54.476Z,1628973714.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00389,186,80,80,B5,FF
2021-08-14T20:41:54.476Z,1628973714.476 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:54.503Z,1628973714.503 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:54.889Z,1628973714.889 [Micromodem](INFO): Nmea in: $SNTTA,0.053697,,,,204155.67*48

2021-08-14T20:41:54.949Z,1628973714.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 99.820565 deg, deltaT: 4.444297 s, approachRate: -0.459015 m/s, LOS rate: 1.742074 deg/s, posRepo size: 4
2021-08-14T20:41:54.951Z,1628973714.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 99.820565 deg,
      approachRate: -0.459015 m/s,
      LOS rate: 1.742074 deg/s,
      cmd update: 6.968295 deg/s,
      cmd heading: 72.720103 deg,
      new cmd heading: 71.544101 deg.

2021-08-14T20:41:57.307Z,1628973717.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:41:57.698Z,1628973717.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:41:57.698Z,1628973717.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:41:57.699Z,1628973717.699 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:41:57.699Z,1628973717.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:41:58.089Z,1628973718.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00389,186,80,80,B5,FF
2021-08-14T20:41:58.089Z,1628973718.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:41:58.089Z,1628973718.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:41:58.091Z,1628973718.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:41:58.499Z,1628973718.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:41:58.902Z,1628973718.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,0036B,189,80,80,36,FF
2021-08-14T20:41:58.902Z,1628973718.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:41:59.023Z,1628973719.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:41:59.346Z,1628973719.346 [Micromodem](INFO): Nmea in: $SNTTA,,0.048358,,,204200.12*45

2021-08-14T20:41:59.413Z,1628973719.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 99.354800 deg, deltaT: 4.519880 s, approachRate: -0.398241 m/s, LOS rate: -0.103048 deg/s, posRepo size: 4
2021-08-14T20:41:59.427Z,1628973719.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 99.354800 deg,
      approachRate: -0.398241 m/s,
      LOS rate: -0.103048 deg/s,
      cmd update: -0.412192 deg/s,
      cmd heading: 104.186706 deg,
      new cmd heading: 106.917358 deg.

2021-08-14T20:42:01.779Z,1628973721.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:02.129Z,1628973722.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:02.129Z,1628973722.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:02.129Z,1628973722.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:02.130Z,1628973722.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:02.537Z,1628973722.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,0036B,189,80,80,36,FF
2021-08-14T20:42:02.537Z,1628973722.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:02.556Z,1628973722.556 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:02.600Z,1628973722.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:02.984Z,1628973722.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:03.365Z,1628973723.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,0034D,186,80,80,58,FF
2021-08-14T20:42:03.366Z,1628973723.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:03.445Z,1628973723.445 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:03.799Z,1628973723.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204204.63*5B

2021-08-14T20:42:03.838Z,1628973723.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 100.955797 deg, deltaT: 4.422079 s, approachRate: -0.407049 m/s, LOS rate: 0.362046 deg/s, posRepo size: 4
2021-08-14T20:42:03.840Z,1628973723.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 100.955797 deg,
      approachRate: -0.407049 m/s,
      LOS rate: 0.362046 deg/s,
      cmd update: 1.448184 deg/s,
      cmd heading: 102.366784 deg,
      new cmd heading: 102.198636 deg.

2021-08-14T20:42:06.230Z,1628973726.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:06.625Z,1628973726.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:06.625Z,1628973726.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:06.625Z,1628973726.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:06.626Z,1628973726.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:07.017Z,1628973727.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,0034D,186,80,80,58,FF
2021-08-14T20:42:07.017Z,1628973727.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:07.017Z,1628973727.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:07.019Z,1628973727.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:07.429Z,1628973727.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:07.824Z,1628973727.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,0032B,185,80,80,81,FF
2021-08-14T20:42:07.825Z,1628973727.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:07.855Z,1628973727.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:08.250Z,1628973728.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204209.05*56

2021-08-14T20:42:08.270Z,1628973728.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 95.736692 deg, deltaT: 4.410123 s, approachRate: -0.462572 m/s, LOS rate: -1.183437 deg/s, posRepo size: 4
2021-08-14T20:42:08.273Z,1628973728.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 95.736692 deg,
      approachRate: -0.462572 m/s,
      LOS rate: -1.183437 deg/s,
      cmd update: -4.733750 deg/s,
      cmd heading: 108.770230 deg,
      new cmd heading: 109.371639 deg.

2021-08-14T20:42:10.691Z,1628973730.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:11.057Z,1628973731.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:11.057Z,1628973731.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:11.057Z,1628973731.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:11.058Z,1628973731.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:11.465Z,1628973731.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,0032B,185,80,80,81,FF
2021-08-14T20:42:11.465Z,1628973731.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:11.466Z,1628973731.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:11.467Z,1628973731.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:11.872Z,1628973731.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:12.261Z,1628973732.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,0030D,186,80,80,A4,FF
2021-08-14T20:42:12.261Z,1628973732.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:12.306Z,1628973732.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:12.709Z,1628973732.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204213.49*55

2021-08-14T20:42:12.744Z,1628973732.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 99.003975 deg, deltaT: 4.451167 s, approachRate: -0.404388 m/s, LOS rate: 0.734028 deg/s, posRepo size: 4
2021-08-14T20:42:12.750Z,1628973732.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 99.003975 deg,
      approachRate: -0.404388 m/s,
      LOS rate: 0.734028 deg/s,
      cmd update: 2.936113 deg/s,
      cmd heading: 87.813134 deg,
      new cmd heading: 85.614624 deg.

2021-08-14T20:42:15.151Z,1628973735.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:15.502Z,1628973735.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:15.502Z,1628973735.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:15.502Z,1628973735.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:15.503Z,1628973735.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:15.680Z,1628973735.680 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-14T20:42:15.906Z,1628973735.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,0030D,186,80,80,A4,FF
2021-08-14T20:42:15.906Z,1628973735.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:15.906Z,1628973735.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:15.908Z,1628973735.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:16.304Z,1628973736.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:16.447Z,1628973736.447 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:16.701Z,1628973736.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,002EB,185,80,80,BF,FF
2021-08-14T20:42:16.702Z,1628973736.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:16.774Z,1628973736.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:17.149Z,1628973737.149 [Micromodem](INFO): Nmea in: $SNTTA,0.019211,,,,204217.94*45

2021-08-14T20:42:17.204Z,1628973737.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 101.411288 deg, deltaT: 4.473394 s, approachRate: -0.456029 m/s, LOS rate: 0.538140 deg/s, posRepo size: 4
2021-08-14T20:42:17.206Z,1628973737.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 101.411288 deg,
      approachRate: -0.456029 m/s,
      LOS rate: 0.538140 deg/s,
      cmd update: 2.152561 deg/s,
      cmd heading: 100.905318 deg,
      new cmd heading: 102.273194 deg.

2021-08-14T20:42:17.450Z,1628973737.450 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:18.453Z,1628973738.453 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:19.458Z,1628973739.458 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:19.589Z,1628973739.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:19.937Z,1628973739.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:19.937Z,1628973739.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:19.937Z,1628973739.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:19.938Z,1628973739.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:20.345Z,1628973740.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,002EB,185,80,80,BF,FF
2021-08-14T20:42:20.345Z,1628973740.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:20.346Z,1628973740.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:20.347Z,1628973740.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:20.462Z,1628973740.462 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:20.798Z,1628973740.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:21.153Z,1628973741.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,002D1,186,80,80,AD,FF
2021-08-14T20:42:21.154Z,1628973741.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:21.174Z,1628973741.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:21.466Z,1628973741.466 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:21.625Z,1628973741.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204222.37*5E

2021-08-14T20:42:21.652Z,1628973741.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 96.100003 deg, deltaT: 4.394276 s, approachRate: -0.355007 m/s, LOS rate: -1.208683 deg/s, posRepo size: 4
2021-08-14T20:42:21.654Z,1628973741.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 96.100003 deg,
      approachRate: -0.355007 m/s,
      LOS rate: -1.208683 deg/s,
      cmd update: -4.834730 deg/s,
      cmd heading: 110.446869 deg,
      new cmd heading: 111.481730 deg.

2021-08-14T20:42:22.473Z,1628973742.473 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:23.474Z,1628973743.474 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:24.034Z,1628973744.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:24.385Z,1628973744.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:24.385Z,1628973744.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:24.385Z,1628973744.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:24.386Z,1628973744.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:24.478Z,1628973744.478 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:24.821Z,1628973744.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,002D1,186,80,80,AD,FF
2021-08-14T20:42:24.821Z,1628973744.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:24.821Z,1628973744.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:24.823Z,1628973744.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:25.309Z,1628973745.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:25.482Z,1628973745.482 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:25.712Z,1628973745.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,002BB,187,80,80,9D,FF
2021-08-14T20:42:25.713Z,1628973745.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:25.743Z,1628973745.743 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:26.133Z,1628973746.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204226.85*53

2021-08-14T20:42:26.154Z,1628973746.154 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-14T20:42:26.154Z,1628973746.154 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-14T20:42:26.154Z,1628973746.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-14T20:42:26.154Z,1628973746.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T20:42:26.155Z,1628973746.155 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-14T20:42:26.155Z,1628973746.155 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-08-14T20:42:26.155Z,1628973746.155 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-14T20:42:26.155Z,1628973746.155 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-14T20:42:26.156Z,1628973746.156 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-14T20:42:26.158Z,1628973746.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 91.630410 deg, deltaT: 4.570071 s, approachRate: -0.288836 m/s, LOS rate: -0.978014 deg/s, posRepo size: 4
2021-08-14T20:42:26.160Z,1628973746.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 91.630410 deg,
      approachRate: -0.288836 m/s,
      LOS rate: -0.978014 deg/s,
      cmd update: -3.912056 deg/s,
      cmd heading: 88.355010 deg,
      new cmd heading: 86.333730 deg.

2021-08-14T20:42:26.486Z,1628973746.486 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-14T20:42:26.604Z,1628973746.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210814T204226: (41.552319, -70.708603)
2021-08-14T20:42:26.604Z,1628973746.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-14T20:42:26.604Z,1628973746.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-14T20:42:26.604Z,1628973746.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T20:42:26.604Z,1628973746.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-14T20:42:26.605Z,1628973746.605 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-14T20:42:26.605Z,1628973746.605 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-14T20:42:26.605Z,1628973746.605 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-14T20:42:26.605Z,1628973746.605 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-14T20:42:26.698Z,1628973746.698 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005789
CHAN A1 (24V): -0.023305
CHAN A2 (12V): -0.005048
CHAN A3 (5V): -0.001518
CHAN B0 (3.3V): 0.000600
CHAN B1 (3.15aV): 0.000552
CHAN B2 (3.15bV): 0.000476
CHAN B3 (GND): 0.002353
OPEN: 0.006436
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-14T20:42:27.004Z,1628973747.004 [UniversalFixResidualReporter](INFO): Fix residual: 9.1 %DT, over the last 1851.3 m. Residual distance 168.8 m at bearing 67.6 degrees. Fix at (41.5511, -70.7050) with 332.7 m made good.
2021-08-14T20:42:28.650Z,1628973748.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:28.951Z,1628973748.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:28.952Z,1628973748.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:28.953Z,1628973748.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:28.978Z,1628973748.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:29.350Z,1628973749.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,002BB,187,80,80,9D,FF
2021-08-14T20:42:29.350Z,1628973749.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:29.350Z,1628973749.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:29.352Z,1628973749.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:29.750Z,1628973749.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:30.163Z,1628973750.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,002BA,186,80,80,95,FF
2021-08-14T20:42:30.163Z,1628973750.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:30.183Z,1628973750.183 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:30.637Z,1628973750.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204231.38*53

2021-08-14T20:42:30.664Z,1628973750.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 85.563863 deg, deltaT: 4.438989 s, approachRate: -0.013517 m/s, LOS rate: -1.366651 deg/s, posRepo size: 4
2021-08-14T20:42:30.666Z,1628973750.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 85.563863 deg,
      approachRate: -0.013517 m/s,
      LOS rate: -1.366651 deg/s,
      cmd update: -5.466602 deg/s,
      cmd heading: 70.986720 deg,
      new cmd heading: 69.093762 deg.

2021-08-14T20:42:33.039Z,1628973753.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:33.389Z,1628973753.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:33.390Z,1628973753.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:33.390Z,1628973753.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:33.391Z,1628973753.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:33.802Z,1628973753.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,002BA,186,80,80,95,FF
2021-08-14T20:42:33.802Z,1628973753.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:33.802Z,1628973753.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:33.804Z,1628973753.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:34.201Z,1628973754.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:34.634Z,1628973754.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,002CB,186,80,80,98,FF
2021-08-14T20:42:34.634Z,1628973754.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:34.665Z,1628973754.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:35.046Z,1628973755.046 [Micromodem](INFO): Nmea in: $SNTTA,0.427372,,,,204235.83*4E

2021-08-14T20:42:35.082Z,1628973755.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 69.009233 deg, deltaT: 4.481733 s, approachRate: 0.227590 m/s, LOS rate: -3.693801 deg/s, posRepo size: 4
2021-08-14T20:42:35.084Z,1628973755.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 69.009233 deg,
      approachRate: 0.227590 m/s,
      LOS rate: -3.693801 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 46.487444 deg,
      new cmd heading: 44.191181 deg.

2021-08-14T20:42:37.465Z,1628973757.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:37.833Z,1628973757.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:37.833Z,1628973757.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:37.833Z,1628973757.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:37.834Z,1628973757.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:38.237Z,1628973758.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,002CB,186,80,80,98,FF
2021-08-14T20:42:38.237Z,1628973758.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:38.238Z,1628973758.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:38.239Z,1628973758.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:38.641Z,1628973758.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:39.041Z,1628973759.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,002DE,186,80,80,9D,FF
2021-08-14T20:42:39.042Z,1628973759.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:39.107Z,1628973759.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:39.497Z,1628973759.497 [Micromodem](INFO): Nmea in: $SNTTA,0.034714,,,,204240.26*41

2021-08-14T20:42:39.539Z,1628973759.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 47.043259 deg, deltaT: 4.443472 s, approachRate: 0.256556 m/s, LOS rate: -4.943426 deg/s, posRepo size: 4
2021-08-14T20:42:39.556Z,1628973759.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 47.043259 deg,
      approachRate: 0.256556 m/s,
      LOS rate: -4.943426 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.175270 deg,
      new cmd heading: 347.963286 deg.

2021-08-14T20:42:41.931Z,1628973761.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:42.273Z,1628973762.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:42.273Z,1628973762.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:42.273Z,1628973762.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:42.274Z,1628973762.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:42.682Z,1628973762.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,002DE,186,80,80,9D,FF
2021-08-14T20:42:42.682Z,1628973762.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:42.682Z,1628973762.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:42.683Z,1628973762.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:43.180Z,1628973763.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:43.594Z,1628973763.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,002F3,185,80,80,63,FF
2021-08-14T20:42:43.594Z,1628973763.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:43.675Z,1628973763.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:43.997Z,1628973763.997 [Micromodem](INFO): Nmea in: $SNTTA,0.033056,,,,204244.72*42

2021-08-14T20:42:44.013Z,1628973764.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.800001 m, bearing: 21.590626 deg, deltaT: 4.566616 s, approachRate: 0.275916 m/s, LOS rate: -5.573631 deg/s, posRepo size: 4
2021-08-14T20:42:44.015Z,1628973764.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 21.590626 deg,
      approachRate: 0.275916 m/s,
      LOS rate: -5.573631 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 298.415237 deg,
      new cmd heading: 294.274949 deg.

2021-08-14T20:42:45.645Z,1628973765.645 [PowerOnly](INFO): Powering down loadControl
2021-08-14T20:42:46.437Z,1628973766.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:46.853Z,1628973766.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:46.853Z,1628973766.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:46.853Z,1628973766.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:46.854Z,1628973766.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:47.209Z,1628973767.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,002F3,185,80,80,63,FF
2021-08-14T20:42:47.209Z,1628973767.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:47.209Z,1628973767.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:47.211Z,1628973767.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:47.652Z,1628973767.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:48.013Z,1628973768.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,0031A,18A,80,80,6A,FF
2021-08-14T20:42:48.014Z,1628973768.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:48.062Z,1628973768.062 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:48.465Z,1628973768.465 [Micromodem](INFO): Nmea in: $SNTTA,0.040823,,,,204249.24*42

2021-08-14T20:42:48.487Z,1628973768.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 354.503648 deg, deltaT: 4.386749 s, approachRate: 0.533424 m/s, LOS rate: -6.174730 deg/s, posRepo size: 4
2021-08-14T20:42:48.488Z,1628973768.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.14 m. Rolling out.
2021-08-14T20:42:48.488Z,1628973768.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-14T20:42:50.937Z,1628973770.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:51.253Z,1628973771.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:51.253Z,1628973771.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:51.253Z,1628973771.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:51.254Z,1628973771.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:51.655Z,1628973771.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,0031A,18A,80,80,6A,FF
2021-08-14T20:42:51.655Z,1628973771.655 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:51.655Z,1628973771.655 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:51.657Z,1628973771.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:52.065Z,1628973772.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:52.481Z,1628973772.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,0033A,189,80,80,72,FF
2021-08-14T20:42:52.481Z,1628973772.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:52.525Z,1628973772.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:52.910Z,1628973772.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204253.68*52

2021-08-14T20:42:52.955Z,1628973772.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 337.421017 deg, deltaT: 4.463364 s, approachRate: 0.430168 m/s, LOS rate: -3.827299 deg/s, posRepo size: 4
2021-08-14T20:42:54.927Z,1628973774.927 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for BIT error
2021-08-14T20:42:55.327Z,1628973775.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:42:55.689Z,1628973775.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:42:55.689Z,1628973775.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:42:55.689Z,1628973775.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:42:55.690Z,1628973775.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:42:56.101Z,1628973776.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,0033A,189,80,80,72,FF
2021-08-14T20:42:56.102Z,1628973776.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:42:56.102Z,1628973776.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:42:56.103Z,1628973776.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:42:56.508Z,1628973776.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:42:56.905Z,1628973776.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00339,189,80,80,5C,FF
2021-08-14T20:42:56.906Z,1628973776.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:42:57.010Z,1628973777.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:42:57.341Z,1628973777.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204258.13*55

2021-08-14T20:42:57.374Z,1628973777.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 289.563466 deg, deltaT: 4.484821 s, approachRate: -0.013378 m/s, LOS rate: -10.671006 deg/s, posRepo size: 4
2021-08-14T20:42:59.768Z,1628973779.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:00.137Z,1628973780.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:00.137Z,1628973780.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:00.137Z,1628973780.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:00.138Z,1628973780.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:00.538Z,1628973780.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00339,189,80,80,5C,FF
2021-08-14T20:43:00.538Z,1628973780.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:00.538Z,1628973780.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:00.540Z,1628973780.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:00.944Z,1628973780.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:01.349Z,1628973781.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C6,000,00349,18A,80,80,22,FF
2021-08-14T20:43:01.350Z,1628973781.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:01.370Z,1628973781.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:01.789Z,1628973781.789 [Micromodem](INFO): Nmea in: $SNTTA,0.010459,,,,204302.57*4C

2021-08-14T20:43:01.826Z,1628973781.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 290.221787 deg, deltaT: 4.360099 s, approachRate: 0.220179 m/s, LOS rate: 0.150988 deg/s, posRepo size: 4
2021-08-14T20:43:04.209Z,1628973784.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:04.594Z,1628973784.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:04.594Z,1628973784.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:04.595Z,1628973784.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:04.596Z,1628973784.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:04.977Z,1628973784.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C6,000,00349,18A,80,80,22,FF
2021-08-14T20:43:04.977Z,1628973784.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:04.978Z,1628973784.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:04.979Z,1628973784.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:05.393Z,1628973785.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:05.789Z,1628973785.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,0034F,186,80,80,78,FF
2021-08-14T20:43:05.790Z,1628973785.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:05.856Z,1628973785.856 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:06.238Z,1628973786.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204307.01*5D

2021-08-14T20:43:06.265Z,1628973786.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 315.514168 deg, deltaT: 4.486313 s, approachRate: 0.080243 m/s, LOS rate: 5.637677 deg/s, posRepo size: 4
2021-08-14T20:43:08.682Z,1628973788.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:09.049Z,1628973789.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:09.049Z,1628973789.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:09.049Z,1628973789.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:09.050Z,1628973789.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:09.430Z,1628973789.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,0034F,186,80,80,78,FF
2021-08-14T20:43:09.430Z,1628973789.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:09.430Z,1628973789.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:09.433Z,1628973789.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:09.833Z,1628973789.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:10.250Z,1628973790.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00367,187,80,80,5F,FF
2021-08-14T20:43:10.250Z,1628973790.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:10.275Z,1628973790.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:10.677Z,1628973790.677 [Micromodem](INFO): Nmea in: $SNTTA,0.033360,,,,204311.46*42

2021-08-14T20:43:10.852Z,1628973790.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 281.548512 deg, deltaT: 4.418684 s, approachRate: 0.325889 m/s, LOS rate: -7.686826 deg/s, posRepo size: 4
2021-08-14T20:43:13.123Z,1628973793.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:13.481Z,1628973793.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:13.481Z,1628973793.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:13.481Z,1628973793.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:13.482Z,1628973793.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:13.865Z,1628973793.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,00367,187,80,80,5F,FF
2021-08-14T20:43:13.865Z,1628973793.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:13.865Z,1628973793.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:13.867Z,1628973793.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:14.280Z,1628973794.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:14.689Z,1628973794.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,219,000,0037D,188,80,80,5F,FF
2021-08-14T20:43:14.689Z,1628973794.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:14.803Z,1628973794.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:15.126Z,1628973795.126 [Micromodem](INFO): Nmea in: $SNTTA,0.031926,,,,204315.89*4F

2021-08-14T20:43:15.162Z,1628973795.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 264.251304 deg, deltaT: 4.533149 s, approachRate: 0.291188 m/s, LOS rate: -3.815716 deg/s, posRepo size: 4
2021-08-14T20:43:17.558Z,1628973797.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:17.902Z,1628973797.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:17.903Z,1628973797.903 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:17.903Z,1628973797.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:17.904Z,1628973797.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:18.317Z,1628973798.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
219,000,0037D,188,80,80,5F,FF
2021-08-14T20:43:18.318Z,1628973798.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:18.318Z,1628973798.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:18.321Z,1628973798.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:18.721Z,1628973798.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:19.128Z,1628973799.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,00396,186,80,80,77,FF
2021-08-14T20:43:19.129Z,1628973799.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:19.204Z,1628973799.204 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:19.560Z,1628973799.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204320.35*5F

2021-08-14T20:43:19.615Z,1628973799.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 248.946708 deg, deltaT: 4.395738 s, approachRate: 0.341240 m/s, LOS rate: -3.481690 deg/s, posRepo size: 4
2021-08-14T20:43:22.001Z,1628973802.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:22.360Z,1628973802.360 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:22.361Z,1628973802.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:22.361Z,1628973802.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:22.362Z,1628973802.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:22.778Z,1628973802.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,00396,186,80,80,77,FF
2021-08-14T20:43:22.779Z,1628973802.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:22.784Z,1628973802.784 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:22.794Z,1628973802.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:23.180Z,1628973803.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:23.590Z,1628973803.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,003B0,185,80,80,78,FF
2021-08-14T20:43:23.591Z,1628973803.591 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:23.621Z,1628973803.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:23.987Z,1628973803.987 [Micromodem](INFO): Nmea in: $SNTTA,0.036923,,,,204324.82*44

2021-08-14T20:43:24.059Z,1628973804.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 238.473459 deg, deltaT: 4.417228 s, approachRate: 0.353163 m/s, LOS rate: -2.371000 deg/s, posRepo size: 4
2021-08-14T20:43:26.434Z,1628973806.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:26.864Z,1628973806.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:26.864Z,1628973806.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:26.865Z,1628973806.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:26.866Z,1628973806.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:27.201Z,1628973807.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,003B0,185,80,80,78,FF
2021-08-14T20:43:27.202Z,1628973807.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:27.202Z,1628973807.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:27.204Z,1628973807.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:27.628Z,1628973807.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:28.022Z,1628973808.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,003D2,186,80,80,69,FF
2021-08-14T20:43:28.022Z,1628973808.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:28.047Z,1628973808.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:28.465Z,1628973808.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204329.23*51

2021-08-14T20:43:28.505Z,1628973808.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 229.746636 deg, deltaT: 4.426091 s, approachRate: 0.460903 m/s, LOS rate: -1.971677 deg/s, posRepo size: 4
2021-08-14T20:43:30.927Z,1628973810.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:31.245Z,1628973811.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:31.245Z,1628973811.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:31.245Z,1628973811.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:31.246Z,1628973811.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:31.653Z,1628973811.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,003D2,186,80,80,69,FF
2021-08-14T20:43:31.653Z,1628973811.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:31.653Z,1628973811.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:31.655Z,1628973811.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:32.053Z,1628973812.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:32.473Z,1628973812.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,003EA,189,80,80,95,FF
2021-08-14T20:43:32.474Z,1628973812.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:32.518Z,1628973812.518 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:32.873Z,1628973812.873 [Micromodem](INFO): Nmea in: $SNTTA,0.032687,0.460548,,,204333.68*56

2021-08-14T20:43:32.951Z,1628973812.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 220.163157 deg, deltaT: 4.471210 s, approachRate: 0.322061 m/s, LOS rate: -2.143375 deg/s, posRepo size: 4
2021-08-14T20:43:35.327Z,1628973815.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:35.689Z,1628973815.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:35.689Z,1628973815.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:35.689Z,1628973815.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:35.690Z,1628973815.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:36.097Z,1628973816.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,003EA,189,80,80,95,FF
2021-08-14T20:43:36.098Z,1628973816.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:36.098Z,1628973816.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:36.099Z,1628973816.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:36.500Z,1628973816.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:36.901Z,1628973816.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,0041C,189,80,80,71,FF
2021-08-14T20:43:36.902Z,1628973816.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:36.905Z,1628973816.905 [Micromodem](INFO): Nmea in: $SNTTA,0.236297,0.235678,,,204338.13*54

2021-08-14T20:43:36.986Z,1628973816.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:37.348Z,1628973817.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 208.760087 deg, deltaT: 4.468096 s, approachRate: 0.671427 m/s, LOS rate: -2.552109 deg/s, posRepo size: 4
2021-08-14T20:43:39.781Z,1628973819.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:40.133Z,1628973820.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:40.133Z,1628973820.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:40.133Z,1628973820.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:40.134Z,1628973820.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:40.549Z,1628973820.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,0041C,189,80,80,71,FF
2021-08-14T20:43:40.549Z,1628973820.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:40.550Z,1628973820.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:40.556Z,1628973820.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:40.948Z,1628973820.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:41.345Z,1628973821.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D7,000,00441,189,80,80,75,FF
2021-08-14T20:43:41.346Z,1628973821.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:41.367Z,1628973821.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:41.777Z,1628973821.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204342.59*51

2021-08-14T20:43:41.832Z,1628973821.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 215.886789 deg, deltaT: 4.380258 s, approachRate: 0.506819 m/s, LOS rate: 1.627005 deg/s, posRepo size: 4
2021-08-14T20:43:44.191Z,1628973824.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:44.587Z,1628973824.587 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:44.587Z,1628973824.587 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:44.587Z,1628973824.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:44.588Z,1628973824.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:44.989Z,1628973824.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D7,000,00441,189,80,80,75,FF
2021-08-14T20:43:44.989Z,1628973824.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:44.989Z,1628973824.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:44.991Z,1628973824.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:45.397Z,1628973825.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:45.793Z,1628973825.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00477,18A,80,80,A0,FF
2021-08-14T20:43:45.794Z,1628973825.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:45.875Z,1628973825.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:46.238Z,1628973826.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204347.02*5A

2021-08-14T20:43:46.259Z,1628973826.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 218.693983 deg, deltaT: 4.508352 s, approachRate: 0.718667 m/s, LOS rate: 0.622665 deg/s, posRepo size: 4
2021-08-14T20:43:48.673Z,1628973828.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:49.024Z,1628973829.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:49.025Z,1628973829.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:49.027Z,1628973829.027 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:49.042Z,1628973829.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:49.434Z,1628973829.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00477,18A,80,80,A0,FF
2021-08-14T20:43:49.434Z,1628973829.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:49.434Z,1628973829.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:49.437Z,1628973829.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:49.832Z,1628973829.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:50.237Z,1628973830.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,004AD,186,80,80,6C,FF
2021-08-14T20:43:50.238Z,1628973830.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:50.302Z,1628973830.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:50.669Z,1628973830.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204351.47*5C

2021-08-14T20:43:50.776Z,1628973830.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 227.313367 deg, deltaT: 4.427068 s, approachRate: 0.731861 m/s, LOS rate: 1.946974 deg/s, posRepo size: 4
2021-08-14T20:43:53.103Z,1628973833.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:53.485Z,1628973833.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:53.485Z,1628973833.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:53.485Z,1628973833.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:53.486Z,1628973833.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:53.873Z,1628973833.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,004AD,186,80,80,6C,FF
2021-08-14T20:43:53.873Z,1628973833.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:53.873Z,1628973833.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:53.875Z,1628973833.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:54.276Z,1628973834.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:54.685Z,1628973834.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,004DD,182,80,80,77,FF
2021-08-14T20:43:54.685Z,1628973834.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:54.715Z,1628973834.715 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:55.129Z,1628973835.129 [Micromodem](INFO): Nmea in: $SNTTA,0.040294,,,,204355.90*47

2021-08-14T20:43:55.176Z,1628973835.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 252.323061 deg, deltaT: 4.413429 s, approachRate: 0.652554 m/s, LOS rate: 5.666726 deg/s, posRepo size: 4
2021-08-14T20:43:57.527Z,1628973837.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:43:57.925Z,1628973837.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:43:57.925Z,1628973837.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:43:57.925Z,1628973837.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:43:57.926Z,1628973837.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:43:58.321Z,1628973838.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,004DD,182,80,80,77,FF
2021-08-14T20:43:58.321Z,1628973838.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:43:58.321Z,1628973838.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:43:58.323Z,1628973838.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:43:58.721Z,1628973838.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:43:59.129Z,1628973839.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,00515,186,80,80,6D,FF
2021-08-14T20:43:59.130Z,1628973839.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:43:59.209Z,1628973839.209 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-14T20:43:59.585Z,1628973839.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204400.35*5A

2021-08-14T20:43:59.627Z,1628973839.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 271.950074 deg, deltaT: 4.493958 s, approachRate: 0.747670 m/s, LOS rate: 4.367422 deg/s, posRepo size: 4
2021-08-14T20:43:59.978Z,1628973839.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-14T20:43:59.978Z,1628973839.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:43:59.978Z,1628973839.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-14T20:43:59.979Z,1628973839.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-14T20:43:59.979Z,1628973839.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-14T20:43:59.979Z,1628973839.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-14T20:44:00.369Z,1628973840.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-14T20:44:00.369Z,1628973840.369 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:44:00.370Z,1628973840.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-14T20:44:00.370Z,1628973840.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-14T20:44:01.971Z,1628973841.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:02.369Z,1628973842.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:02.369Z,1628973842.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:02.369Z,1628973842.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:02.370Z,1628973842.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:02.764Z,1628973842.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,00515,186,80,80,6D,FF
2021-08-14T20:44:02.765Z,1628973842.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:02.765Z,1628973842.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:02.771Z,1628973842.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:03.158Z,1628973843.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:04.011Z,1628973844.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204404.80*50

2021-08-14T20:44:04.865Z,1628973844.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:06.406Z,1628973846.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,186,80,80,6D,FF
2021-08-14T20:44:06.406Z,1628973846.406 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,186,80,80,6D,FF
2021-08-14T20:44:06.407Z,1628973846.407 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:44:07.662Z,1628973847.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:08.014Z,1628973848.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:08.014Z,1628973848.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:08.015Z,1628973848.015 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:08.016Z,1628973848.016 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:08.410Z,1628973848.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,186,80,80,6D,FF
2021-08-14T20:44:08.410Z,1628973848.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:08.411Z,1628973848.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:08.430Z,1628973848.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:08.860Z,1628973848.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:09.226Z,1628973849.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00594,186,80,80,84,FF
2021-08-14T20:44:09.226Z,1628973849.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:09.661Z,1628973849.661 [Micromodem](INFO): Nmea in: $SNTTA,0.061496,,,,204410.46*4D

2021-08-14T20:44:09.708Z,1628973849.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 274.692996 deg, deltaT: 10.035829 s, approachRate: 0.759279 m/s, LOS rate: 0.273313 deg/s, posRepo size: 4
2021-08-14T20:44:12.079Z,1628973852.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:12.461Z,1628973852.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:12.461Z,1628973852.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:12.461Z,1628973852.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:12.462Z,1628973852.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:12.877Z,1628973852.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00594,186,80,80,84,FF
2021-08-14T20:44:12.877Z,1628973852.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:12.878Z,1628973852.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:12.879Z,1628973852.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:13.268Z,1628973853.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:13.678Z,1628973853.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,005D3,186,80,80,80,FF
2021-08-14T20:44:13.679Z,1628973853.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:14.145Z,1628973854.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204414.91*51

2021-08-14T20:44:14.167Z,1628973854.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 272.527089 deg, deltaT: 4.490791 s, approachRate: 0.841723 m/s, LOS rate: -0.482300 deg/s, posRepo size: 4
2021-08-14T20:44:16.515Z,1628973856.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:16.910Z,1628973856.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:16.911Z,1628973856.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:16.911Z,1628973856.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:16.912Z,1628973856.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:17.313Z,1628973857.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,005D3,186,80,80,80,FF
2021-08-14T20:44:17.313Z,1628973857.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:17.313Z,1628973857.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:17.315Z,1628973857.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:17.748Z,1628973857.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:18.133Z,1628973858.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,00610,188,80,80,68,FF
2021-08-14T20:44:18.134Z,1628973858.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:18.593Z,1628973858.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204419.34*53

2021-08-14T20:44:18.639Z,1628973858.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.619995 m, bearing: 221.756599 deg, deltaT: 4.478296 s, approachRate: 0.817274 m/s, LOS rate: -11.337011 deg/s, posRepo size: 4
2021-08-14T20:44:21.060Z,1628973861.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:21.372Z,1628973861.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:21.372Z,1628973861.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:21.373Z,1628973861.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:21.373Z,1628973861.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:21.781Z,1628973861.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,00610,188,80,80,68,FF
2021-08-14T20:44:21.781Z,1628973861.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:21.781Z,1628973861.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:21.784Z,1628973861.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:22.180Z,1628973862.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:22.601Z,1628973862.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B1,000,0064C,18A,80,80,60,FF
2021-08-14T20:44:22.602Z,1628973862.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:23.038Z,1628973863.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204423.81*54

2021-08-14T20:44:23.073Z,1628973863.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.220001 m, bearing: 221.847071 deg, deltaT: 4.464491 s, approachRate: 0.806364 m/s, LOS rate: 0.020265 deg/s, posRepo size: 4
2021-08-14T20:44:25.467Z,1628973865.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:25.817Z,1628973865.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:25.817Z,1628973865.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:25.817Z,1628973865.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:25.818Z,1628973865.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:26.217Z,1628973866.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B1,000,0064C,18A,80,80,60,FF
2021-08-14T20:44:26.217Z,1628973866.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:26.217Z,1628973866.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:26.219Z,1628973866.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:26.632Z,1628973866.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:27.037Z,1628973867.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,00681,189,80,80,83,FF
2021-08-14T20:44:27.038Z,1628973867.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:27.474Z,1628973867.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204428.25*51

2021-08-14T20:44:27.534Z,1628973867.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 219.591442 deg, deltaT: 4.419264 s, approachRate: 0.719578 m/s, LOS rate: -0.510408 deg/s, posRepo size: 4
2021-08-14T20:44:29.887Z,1628973869.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:30.257Z,1628973870.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:30.257Z,1628973870.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:30.257Z,1628973870.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:30.258Z,1628973870.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:30.673Z,1628973870.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,00681,189,80,80,83,FF
2021-08-14T20:44:30.673Z,1628973870.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:30.673Z,1628973870.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:30.675Z,1628973870.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:31.080Z,1628973871.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:31.477Z,1628973871.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E0,000,006C4,189,80,80,65,FF
2021-08-14T20:44:31.477Z,1628973871.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:31.921Z,1628973871.921 [Micromodem](INFO): Nmea in: $SNTTA,0.096828,,,,204432.70*49

2021-08-14T20:44:31.947Z,1628973871.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 215.448318 deg, deltaT: 4.510161 s, approachRate: 0.891319 m/s, LOS rate: -0.918620 deg/s, posRepo size: 4
2021-08-14T20:44:34.331Z,1628973874.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:34.716Z,1628973874.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:34.716Z,1628973874.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:34.716Z,1628973874.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:34.717Z,1628973874.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:35.109Z,1628973875.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E0,000,006C4,189,80,80,65,FF
2021-08-14T20:44:35.109Z,1628973875.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:35.109Z,1628973875.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:35.111Z,1628973875.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:35.525Z,1628973875.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:35.917Z,1628973875.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,00703,189,80,80,6F,FF
2021-08-14T20:44:35.918Z,1628973875.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:36.365Z,1628973876.365 [Micromodem](INFO): Nmea in: $SNTTA,0.089997,,,,204437.14*45

2021-08-14T20:44:36.387Z,1628973876.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 217.083465 deg, deltaT: 4.438009 s, approachRate: 0.851735 m/s, LOS rate: 0.368442 deg/s, posRepo size: 4
2021-08-14T20:44:38.833Z,1628973878.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:39.149Z,1628973879.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:39.149Z,1628973879.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:39.149Z,1628973879.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:39.150Z,1628973879.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:39.569Z,1628973879.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,00703,189,80,80,6F,FF
2021-08-14T20:44:39.570Z,1628973879.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:39.570Z,1628973879.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:39.586Z,1628973879.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:39.972Z,1628973879.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:40.361Z,1628973880.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00744,189,80,80,60,FF
2021-08-14T20:44:40.362Z,1628973880.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:40.811Z,1628973880.811 [Micromodem](INFO): Nmea in: $SNTTA,0.056332,,,,204441.61*41

2021-08-14T20:44:40.882Z,1628973880.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 211.979251 deg, deltaT: 4.363652 s, approachRate: 0.893747 m/s, LOS rate: -1.169712 deg/s, posRepo size: 4
2021-08-14T20:44:43.215Z,1628973883.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:43.617Z,1628973883.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:43.617Z,1628973883.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:43.617Z,1628973883.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:43.618Z,1628973883.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:43.997Z,1628973883.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00744,189,80,80,60,FF
2021-08-14T20:44:43.997Z,1628973883.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:43.997Z,1628973883.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:43.999Z,1628973883.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:44.407Z,1628973884.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:44.849Z,1628973884.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,00779,18A,80,80,6C,FF
2021-08-14T20:44:44.849Z,1628973884.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:45.237Z,1628973885.237 [Micromodem](INFO): Nmea in: $SNTTA,,0.286477,,,204446.03*4B

2021-08-14T20:44:45.279Z,1628973885.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 213.635627 deg, deltaT: 4.516499 s, approachRate: 0.704085 m/s, LOS rate: 0.366739 deg/s, posRepo size: 4
2021-08-14T20:44:47.684Z,1628973887.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:48.037Z,1628973888.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:48.037Z,1628973888.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:48.037Z,1628973888.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:48.038Z,1628973888.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:48.449Z,1628973888.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,00779,18A,80,80,6C,FF
2021-08-14T20:44:48.449Z,1628973888.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:48.450Z,1628973888.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:48.451Z,1628973888.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:48.860Z,1628973888.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:49.249Z,1628973889.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,007BD,189,80,80,7B,FF
2021-08-14T20:44:49.250Z,1628973889.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:49.689Z,1628973889.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204450.48*55

2021-08-14T20:44:49.739Z,1628973889.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.360008 m, bearing: 214.542225 deg, deltaT: 4.342542 s, approachRate: 0.939542 m/s, LOS rate: 0.208771 deg/s, posRepo size: 4
2021-08-14T20:44:52.102Z,1628973892.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:52.493Z,1628973892.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:52.493Z,1628973892.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:52.493Z,1628973892.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:52.494Z,1628973892.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:52.893Z,1628973892.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,007BD,189,80,80,7B,FF
2021-08-14T20:44:52.893Z,1628973892.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:52.893Z,1628973892.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:52.895Z,1628973892.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:53.297Z,1628973893.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:53.694Z,1628973893.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,007FE,189,80,80,84,FF
2021-08-14T20:44:53.694Z,1628973893.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:54.165Z,1628973894.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204454.92*56

2021-08-14T20:44:54.199Z,1628973894.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 215.111699 deg, deltaT: 4.508476 s, approachRate: 0.865036 m/s, LOS rate: 0.126312 deg/s, posRepo size: 4
2021-08-14T20:44:56.595Z,1628973896.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:44:56.940Z,1628973896.940 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:44:56.940Z,1628973896.940 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:44:56.940Z,1628973896.940 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:44:56.941Z,1628973896.941 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:44:57.330Z,1628973897.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,007FE,189,80,80,84,FF
2021-08-14T20:44:57.330Z,1628973897.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:44:57.330Z,1628973897.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:44:57.332Z,1628973897.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:44:57.741Z,1628973897.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:44:58.153Z,1628973898.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,0083C,188,80,80,7E,FF
2021-08-14T20:44:58.154Z,1628973898.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:44:58.593Z,1628973898.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204459.36*55

2021-08-14T20:44:58.639Z,1628973898.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 222.173787 deg, deltaT: 4.395718 s, approachRate: 0.846278 m/s, LOS rate: 1.606583 deg/s, posRepo size: 4
2021-08-14T20:45:01.032Z,1628973901.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:01.381Z,1628973901.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:01.382Z,1628973901.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:01.382Z,1628973901.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:01.383Z,1628973901.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:01.777Z,1628973901.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,0083C,188,80,80,7E,FF
2021-08-14T20:45:01.777Z,1628973901.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:01.778Z,1628973901.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:01.779Z,1628973901.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:02.190Z,1628973902.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:02.617Z,1628973902.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00872,18A,80,80,72,FF
2021-08-14T20:45:02.618Z,1628973902.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:02.993Z,1628973902.993 [Micromodem](INFO): Nmea in: $SNTTA,0.437873,0.398494,,,204503.81*50

2021-08-14T20:45:03.043Z,1628973903.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 220.170506 deg, deltaT: 4.502604 s, approachRate: 0.719583 m/s, LOS rate: -0.444916 deg/s, posRepo size: 4
2021-08-14T20:45:05.437Z,1628973905.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:05.821Z,1628973905.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:05.821Z,1628973905.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:05.821Z,1628973905.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:05.822Z,1628973905.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:06.221Z,1628973906.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00872,18A,80,80,72,FF
2021-08-14T20:45:06.221Z,1628973906.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:06.221Z,1628973906.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:06.223Z,1628973906.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:06.641Z,1628973906.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:07.025Z,1628973907.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,008B6,188,80,80,8A,FF
2021-08-14T20:45:07.026Z,1628973907.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:07.469Z,1628973907.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204508.25*52

2021-08-14T20:45:07.491Z,1628973907.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.299995 m, bearing: 221.537691 deg, deltaT: 4.414196 s, approachRate: 0.924289 m/s, LOS rate: 0.309725 deg/s, posRepo size: 4
2021-08-14T20:45:09.897Z,1628973909.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:10.257Z,1628973910.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:10.257Z,1628973910.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:10.257Z,1628973910.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:10.258Z,1628973910.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:10.669Z,1628973910.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,008B6,188,80,80,8A,FF
2021-08-14T20:45:10.669Z,1628973910.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:10.670Z,1628973910.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:10.673Z,1628973910.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:11.062Z,1628973911.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:11.898Z,1628973911.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204512.70*59

2021-08-14T20:45:12.709Z,1628973912.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:14.299Z,1628973914.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,8A,FF
2021-08-14T20:45:14.299Z,1628973914.299 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,8A,FF
2021-08-14T20:45:14.299Z,1628973914.299 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:45:15.583Z,1628973915.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:15.937Z,1628973915.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:15.937Z,1628973915.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:15.937Z,1628973915.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:15.938Z,1628973915.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:16.314Z,1628973916.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,8A,FF
2021-08-14T20:45:16.314Z,1628973916.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:16.314Z,1628973916.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:16.317Z,1628973916.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:16.726Z,1628973916.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:17.561Z,1628973917.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204518.35*52

2021-08-14T20:45:18.355Z,1628973918.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:19.953Z,1628973919.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,8A,FF
2021-08-14T20:45:19.953Z,1628973919.953 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,8A,FF
2021-08-14T20:45:19.954Z,1628973919.954 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:45:21.257Z,1628973921.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:21.588Z,1628973921.588 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:21.588Z,1628973921.588 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:21.589Z,1628973921.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:21.589Z,1628973921.589 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:21.973Z,1628973921.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,8A,FF
2021-08-14T20:45:21.973Z,1628973921.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:21.973Z,1628973921.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:21.975Z,1628973921.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:22.384Z,1628973922.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:22.817Z,1628973922.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,00997,188,80,80,76,FF
2021-08-14T20:45:22.818Z,1628973922.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:22.846Z,1628973922.846 [Micromodem](INFO): Nmea in: $SNTTA,0.078469,0.300049,,,204524.00*51

2021-08-14T20:45:23.232Z,1628973923.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.800003 m, bearing: 225.631679 deg, deltaT: 15.840165 s, approachRate: 0.852264 m/s, LOS rate: 0.258456 deg/s, posRepo size: 4
2021-08-14T20:45:25.672Z,1628973925.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:26.017Z,1628973926.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:26.017Z,1628973926.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:26.018Z,1628973926.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:26.019Z,1628973926.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:26.415Z,1628973926.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,00997,188,80,80,76,FF
2021-08-14T20:45:26.415Z,1628973926.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:26.415Z,1628973926.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:26.418Z,1628973926.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:26.852Z,1628973926.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:27.244Z,1628973927.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,009D8,187,80,80,31,FF
2021-08-14T20:45:27.244Z,1628973927.244 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:27.673Z,1628973927.673 [Micromodem](INFO): Nmea in: $SNTTA,0.080294,,,,204528.45*4F

2021-08-14T20:45:27.727Z,1628973927.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 226.661166 deg, deltaT: 4.333702 s, approachRate: 0.899924 m/s, LOS rate: 0.237554 deg/s, posRepo size: 4
2021-08-14T20:45:30.080Z,1628973930.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:30.465Z,1628973930.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:30.465Z,1628973930.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:30.465Z,1628973930.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:30.466Z,1628973930.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:30.861Z,1628973930.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,009D8,187,80,80,31,FF
2021-08-14T20:45:30.861Z,1628973930.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:30.861Z,1628973930.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:30.863Z,1628973930.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:31.268Z,1628973931.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:31.673Z,1628973931.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,00A19,186,80,80,7A,FF
2021-08-14T20:45:31.674Z,1628973931.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:32.116Z,1628973932.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204532.89*5D

2021-08-14T20:45:32.136Z,1628973932.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.599998 m, bearing: 231.378641 deg, deltaT: 4.464582 s, approachRate: 0.873541 m/s, LOS rate: 1.056644 deg/s, posRepo size: 4
2021-08-14T20:45:34.542Z,1628973934.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:34.909Z,1628973934.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:34.909Z,1628973934.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:34.909Z,1628973934.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:34.910Z,1628973934.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:35.309Z,1628973935.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,00A19,186,80,80,7A,FF
2021-08-14T20:45:35.309Z,1628973935.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:35.309Z,1628973935.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:35.311Z,1628973935.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:35.713Z,1628973935.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:36.121Z,1628973936.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00A57,187,80,80,6C,FF
2021-08-14T20:45:36.122Z,1628973936.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:36.561Z,1628973936.561 [Micromodem](INFO): Nmea in: $SNTTA,0.082712,,,,204537.34*4E

2021-08-14T20:45:36.625Z,1628973936.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.320000 m, bearing: 227.529119 deg, deltaT: 4.412471 s, approachRate: 0.843065 m/s, LOS rate: -0.872419 deg/s, posRepo size: 4
2021-08-14T20:45:37.760Z,1628973937.760 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T20:45:39.007Z,1628973939.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:39.350Z,1628973939.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:39.350Z,1628973939.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:39.350Z,1628973939.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:39.351Z,1628973939.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:39.749Z,1628973939.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00A57,187,80,80,6C,FF
2021-08-14T20:45:39.749Z,1628973939.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:39.749Z,1628973939.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:39.751Z,1628973939.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:40.157Z,1628973940.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:40.990Z,1628973940.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204541.78*57

2021-08-14T20:45:41.818Z,1628973941.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:43.385Z,1628973943.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,6C,FF
2021-08-14T20:45:43.385Z,1628973943.385 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,6C,FF
2021-08-14T20:45:43.385Z,1628973943.385 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:45:44.657Z,1628973944.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:45.005Z,1628973945.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:45.005Z,1628973945.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:45.006Z,1628973945.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:45.006Z,1628973945.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:45.410Z,1628973945.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,6C,FF
2021-08-14T20:45:45.410Z,1628973945.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:45.410Z,1628973945.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:45.414Z,1628973945.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:45.812Z,1628973945.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:46.217Z,1628973946.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,00AE2,187,80,80,42,FF
2021-08-14T20:45:46.217Z,1628973946.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:46.661Z,1628973946.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204547.45*5F

2021-08-14T20:45:46.704Z,1628973946.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.660004 m, bearing: 226.488130 deg, deltaT: 10.096328 s, approachRate: 0.826043 m/s, LOS rate: -0.103106 deg/s, posRepo size: 4
2021-08-14T20:45:49.078Z,1628973949.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:49.457Z,1628973949.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:49.457Z,1628973949.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:49.457Z,1628973949.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:49.458Z,1628973949.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:49.849Z,1628973949.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,00AE2,187,80,80,42,FF
2021-08-14T20:45:49.849Z,1628973949.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:49.849Z,1628973949.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:49.851Z,1628973949.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:50.256Z,1628973950.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:50.669Z,1628973950.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00B27,186,80,80,61,FF
2021-08-14T20:45:50.669Z,1628973950.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:51.097Z,1628973951.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204551.88*59

2021-08-14T20:45:51.164Z,1628973951.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.800003 m, bearing: 227.212158 deg, deltaT: 4.573476 s, approachRate: 0.905219 m/s, LOS rate: 0.158310 deg/s, posRepo size: 4
2021-08-14T20:45:53.514Z,1628973953.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:53.893Z,1628973953.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:53.893Z,1628973953.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:53.893Z,1628973953.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:53.894Z,1628973953.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:54.297Z,1628973954.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00B27,186,80,80,61,FF
2021-08-14T20:45:54.297Z,1628973954.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:54.297Z,1628973954.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:54.299Z,1628973954.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:54.712Z,1628973954.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:55.113Z,1628973955.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00B61,186,80,80,44,FF
2021-08-14T20:45:55.113Z,1628973955.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:45:55.564Z,1628973955.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204556.33*5E

2021-08-14T20:45:55.614Z,1628973955.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.279999 m, bearing: 239.877637 deg, deltaT: 4.383397 s, approachRate: 0.793904 m/s, LOS rate: 2.889421 deg/s, posRepo size: 4
2021-08-14T20:45:57.971Z,1628973957.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:45:58.333Z,1628973958.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:45:58.333Z,1628973958.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:45:58.333Z,1628973958.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:45:58.334Z,1628973958.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:45:58.753Z,1628973958.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00B61,186,80,80,44,FF
2021-08-14T20:45:58.753Z,1628973958.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:45:58.754Z,1628973958.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:45:58.760Z,1628973958.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:45:59.147Z,1628973959.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:45:59.962Z,1628973959.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204600.79*50

2021-08-14T20:46:00.859Z,1628973960.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:01.977Z,1628973961.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,0757F,186,80,80,42,FF
2021-08-14T20:46:01.978Z,1628973961.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:02.431Z,1628973962.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1767.240112 m, bearing: 229.557686 deg, deltaT: 6.802991 s, approachRate: 239.594620 m/s, LOS rate: -1.516973 deg/s, posRepo size: 4
2021-08-14T20:46:04.917Z,1628973964.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:05.213Z,1628973965.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:05.214Z,1628973965.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:05.214Z,1628973965.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:05.215Z,1628973965.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:05.629Z,1628973965.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,0757F,186,80,80,42,FF
2021-08-14T20:46:05.629Z,1628973965.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:05.629Z,1628973965.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:05.631Z,1628973965.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:06.027Z,1628973966.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:06.422Z,1628973966.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,00C0A,186,80,80,42,FF
2021-08-14T20:46:06.423Z,1628973966.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:06.865Z,1628973966.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204607.67*58

2021-08-14T20:46:06.922Z,1628973966.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.420013 m, bearing: 225.261360 deg, deltaT: 4.479971 s, approachRate: -361.569305 m/s, LOS rate: -0.959007 deg/s, posRepo size: 4
2021-08-14T20:46:09.274Z,1628973969.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:09.654Z,1628973969.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:09.654Z,1628973969.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:09.655Z,1628973969.655 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:09.656Z,1628973969.656 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:10.050Z,1628973970.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,00C0A,186,80,80,42,FF
2021-08-14T20:46:10.050Z,1628973970.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:10.050Z,1628973970.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:10.053Z,1628973970.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:10.468Z,1628973970.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:11.286Z,1628973971.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204612.08*55

2021-08-14T20:46:12.110Z,1628973972.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:12.889Z,1628973972.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,06597,187,80,80,3E,FF
2021-08-14T20:46:12.890Z,1628973972.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:13.334Z,1628973973.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1522.920044 m, bearing: 226.981461 deg, deltaT: 6.482064 s, approachRate: 212.200928 m/s, LOS rate: 0.265363 deg/s, posRepo size: 4
2021-08-14T20:46:15.754Z,1628973975.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:16.113Z,1628973976.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:16.114Z,1628973976.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:16.114Z,1628973976.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:16.115Z,1628973976.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:16.528Z,1628973976.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,06597,187,80,80,3E,FF
2021-08-14T20:46:16.529Z,1628973976.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:16.529Z,1628973976.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:16.531Z,1628973976.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:16.929Z,1628973976.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:17.730Z,1628973977.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,011D0,185,80,80,69,FF
2021-08-14T20:46:17.730Z,1628973977.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:18.157Z,1628973978.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.099991 m, bearing: 230.359823 deg, deltaT: 4.801305 s, approachRate: -268.014648 m/s, LOS rate: 0.703634 deg/s, posRepo size: 4
2021-08-14T20:46:20.607Z,1628973980.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:20.957Z,1628973980.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:20.957Z,1628973980.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:20.957Z,1628973980.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:20.958Z,1628973980.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:21.366Z,1628973981.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,011D0,185,80,80,69,FF
2021-08-14T20:46:21.366Z,1628973981.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:21.366Z,1628973981.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:21.368Z,1628973981.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:21.776Z,1628973981.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:22.614Z,1628973982.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204623.40*5B

2021-08-14T20:46:23.401Z,1628973983.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:25.001Z,1628973985.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:25.001Z,1628973985.001 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:25.001Z,1628973985.001 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:46:26.246Z,1628973986.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:26.625Z,1628973986.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:26.625Z,1628973986.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:26.625Z,1628973986.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:26.626Z,1628973986.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:27.017Z,1628973987.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:27.017Z,1628973987.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:27.018Z,1628973987.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:27.019Z,1628973987.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:27.427Z,1628973987.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:28.250Z,1628973988.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204629.05*50

2021-08-14T20:46:29.090Z,1628973989.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:30.653Z,1628973990.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:30.653Z,1628973990.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:30.653Z,1628973990.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:46:31.901Z,1628973991.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:32.269Z,1628973992.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:32.269Z,1628973992.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:32.269Z,1628973992.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:32.270Z,1628973992.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:32.673Z,1628973992.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:32.673Z,1628973992.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:32.673Z,1628973992.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:32.675Z,1628973992.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:33.080Z,1628973993.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:33.481Z,1628973993.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,,E4
0,185,80,80,69,FF
2021-08-14T20:46:33.482Z,1628973993.482 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,1F1,000,,E4
0,185,80,80,69,FF
2021-08-14T20:46:33.914Z,1628973993.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204634.70*5E

2021-08-14T20:46:34.718Z,1628973994.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:37.585Z,1628973997.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:38.336Z,1628973998.336 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065865
2021-08-14T20:46:40.378Z,1628974000.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:40.756Z,1628974000.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:40.757Z,1628974000.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:40.757Z,1628974000.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:40.759Z,1628974000.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:41.154Z,1628974001.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,,E4
0,185,80,80,69,FF
2021-08-14T20:46:41.154Z,1628974001.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:41.154Z,1628974001.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:41.156Z,1628974001.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:41.565Z,1628974001.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:42.410Z,1628974002.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204643.19*51

2021-08-14T20:46:43.211Z,1628974003.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:44.829Z,1628974004.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:44.830Z,1628974004.830 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:44.830Z,1628974004.830 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:46:46.034Z,1628974006.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:46.410Z,1628974006.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:46.410Z,1628974006.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:46.410Z,1628974006.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:46.411Z,1628974006.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:46.857Z,1628974006.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,69,FF
2021-08-14T20:46:46.857Z,1628974006.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:46.857Z,1628974006.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:46.859Z,1628974006.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:47.248Z,1628974007.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:48.035Z,1628974008.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00E68,185,80,80,73,FF
2021-08-14T20:46:48.036Z,1628974008.036 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:48.043Z,1628974008.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204648.89*53

2021-08-14T20:46:48.482Z,1628974008.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.780014 m, bearing: 234.786032 deg, deltaT: 30.348509 s, approachRate: -1.723972 m/s, LOS rate: 0.145846 deg/s, posRepo size: 4
2021-08-14T20:46:50.909Z,1628974010.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:51.257Z,1628974011.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:51.257Z,1628974011.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:51.257Z,1628974011.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:51.258Z,1628974011.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:51.673Z,1628974011.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00E68,185,80,80,73,FF
2021-08-14T20:46:51.674Z,1628974011.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:51.674Z,1628974011.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:51.677Z,1628974011.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:52.078Z,1628974012.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:52.901Z,1628974012.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,00EAF,186,80,80,83,FF
2021-08-14T20:46:52.901Z,1628974012.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:52.905Z,1628974012.905 [Micromodem](INFO): Nmea in: $SNTTA,0.136395,0.486175,,,204653.71*5C

2021-08-14T20:46:53.315Z,1628974013.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.039993 m, bearing: 231.783234 deg, deltaT: 4.897674 s, approachRate: 0.869796 m/s, LOS rate: -0.613107 deg/s, posRepo size: 4
2021-08-14T20:46:55.763Z,1628974015.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:46:56.105Z,1628974016.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:46:56.105Z,1628974016.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:46:56.105Z,1628974016.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:46:56.106Z,1628974016.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:46:56.522Z,1628974016.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,00EAF,186,80,80,83,FF
2021-08-14T20:46:56.522Z,1628974016.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:46:56.522Z,1628974016.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:46:56.524Z,1628974016.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:46:56.929Z,1628974016.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:46:57.737Z,1628974017.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,00EF8,185,80,80,81,FF
2021-08-14T20:46:57.737Z,1628974017.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:46:57.740Z,1628974017.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204658.55*53

2021-08-14T20:46:58.215Z,1628974018.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.419998 m, bearing: 229.992359 deg, deltaT: 4.751762 s, approachRate: 0.921764 m/s, LOS rate: -0.376887 deg/s, posRepo size: 4
2021-08-14T20:47:00.575Z,1628974020.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:00.957Z,1628974020.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:00.957Z,1628974020.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:00.957Z,1628974020.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:00.958Z,1628974020.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:01.369Z,1628974021.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,00EF8,185,80,80,81,FF
2021-08-14T20:47:01.369Z,1628974021.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:01.370Z,1628974021.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:01.371Z,1628974021.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:01.765Z,1628974021.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:02.589Z,1628974022.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,00F40,186,80,80,79,FF
2021-08-14T20:47:02.589Z,1628974022.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:02.592Z,1628974022.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204703.40*58

2021-08-14T20:47:03.054Z,1628974023.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.739990 m, bearing: 231.529370 deg, deltaT: 4.918785 s, approachRate: 0.878264 m/s, LOS rate: 0.312478 deg/s, posRepo size: 4
2021-08-14T20:47:05.441Z,1628974025.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:05.801Z,1628974025.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:05.801Z,1628974025.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:05.801Z,1628974025.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:05.802Z,1628974025.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:06.215Z,1628974026.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,00F40,186,80,80,79,FF
2021-08-14T20:47:06.215Z,1628974026.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:06.215Z,1628974026.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:06.218Z,1628974026.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:06.617Z,1628974026.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:07.445Z,1628974027.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,00F83,185,80,80,7F,FF
2021-08-14T20:47:07.446Z,1628974027.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:07.449Z,1628974027.449 [Micromodem](INFO): Nmea in: $SNTTA,0.135690,,,,204708.25*46

2021-08-14T20:47:07.882Z,1628974027.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 230.931209 deg, deltaT: 4.789987 s, approachRate: 0.839252 m/s, LOS rate: -0.124877 deg/s, posRepo size: 4
2021-08-14T20:47:10.285Z,1628974030.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:10.685Z,1628974030.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:10.685Z,1628974030.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:10.685Z,1628974030.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:10.686Z,1628974030.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:11.053Z,1628974031.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,00F83,185,80,80,7F,FF
2021-08-14T20:47:11.054Z,1628974031.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:11.054Z,1628974031.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:11.055Z,1628974031.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:11.465Z,1628974031.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:12.301Z,1628974032.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,00FCD,186,80,80,80,FF
2021-08-14T20:47:12.302Z,1628974032.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:12.305Z,1628974032.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204713.10*5C

2021-08-14T20:47:12.810Z,1628974032.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.199982 m, bearing: 231.188434 deg, deltaT: 4.883716 s, approachRate: 0.909141 m/s, LOS rate: 0.052670 deg/s, posRepo size: 4
2021-08-14T20:47:15.139Z,1628974035.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:15.497Z,1628974035.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:15.497Z,1628974035.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:15.497Z,1628974035.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:15.498Z,1628974035.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:15.901Z,1628974035.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,00FCD,186,80,80,80,FF
2021-08-14T20:47:15.901Z,1628974035.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:15.901Z,1628974035.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:15.903Z,1628974035.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:16.309Z,1628974036.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:16.745Z,1628974036.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,00FCD,186,80,80,80,FF
2021-08-14T20:47:16.746Z,1628974036.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:17.159Z,1628974037.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204717.93*53

2021-08-14T20:47:17.207Z,1628974037.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.199982 m, bearing: 230.439764 deg, deltaT: 4.513002 s, approachRate: 0.000000 m/s, LOS rate: -0.165892 deg/s, posRepo size: 4
2021-08-14T20:47:19.569Z,1628974039.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:19.937Z,1628974039.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:19.937Z,1628974039.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:19.937Z,1628974039.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:19.938Z,1628974039.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:20.357Z,1628974040.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,00FCD,186,80,80,80,FF
2021-08-14T20:47:20.357Z,1628974040.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:20.357Z,1628974040.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:20.359Z,1628974040.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:20.796Z,1628974040.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:21.577Z,1628974041.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,01054,186,80,80,7E,FF
2021-08-14T20:47:21.577Z,1628974041.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:21.600Z,1628974041.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204722.39*55

2021-08-14T20:47:22.006Z,1628974042.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.299988 m, bearing: 240.713024 deg, deltaT: 4.781908 s, approachRate: 1.693886 m/s, LOS rate: 2.148360 deg/s, posRepo size: 4
2021-08-14T20:47:24.439Z,1628974044.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:24.845Z,1628974044.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:24.845Z,1628974044.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:24.845Z,1628974044.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:24.846Z,1628974044.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:25.193Z,1628974045.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,01054,186,80,80,7E,FF
2021-08-14T20:47:25.193Z,1628974045.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:25.194Z,1628974045.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:25.195Z,1628974045.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:25.596Z,1628974045.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:26.434Z,1628974046.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204727.23*5B

2021-08-14T20:47:27.213Z,1628974047.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,03B99,185,80,80,7B,FF
2021-08-14T20:47:27.214Z,1628974047.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:27.695Z,1628974047.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 877.919983 m, bearing: 232.737494 deg, deltaT: 5.587245 s, approachRate: 118.953079 m/s, LOS rate: -1.427453 deg/s, posRepo size: 4
2021-08-14T20:47:30.062Z,1628974050.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:30.461Z,1628974050.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:30.461Z,1628974050.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:30.461Z,1628974050.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:30.462Z,1628974050.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:30.857Z,1628974050.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,03B99,185,80,80,7B,FF
2021-08-14T20:47:30.858Z,1628974050.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:30.858Z,1628974050.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:30.860Z,1628974050.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:31.256Z,1628974051.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:32.086Z,1628974052.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204732.89*5F

2021-08-14T20:47:32.926Z,1628974052.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:34.500Z,1628974054.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:34.501Z,1628974054.501 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:34.501Z,1628974054.501 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:47:35.775Z,1628974055.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:36.112Z,1628974056.112 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:36.112Z,1628974056.112 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:36.113Z,1628974056.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:36.113Z,1628974056.113 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:36.501Z,1628974056.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:36.501Z,1628974056.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:36.502Z,1628974056.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:36.503Z,1628974056.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:36.909Z,1628974056.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:37.746Z,1628974057.746 [Micromodem](INFO): Nmea in: $SNTTA,,0.032985,,,204738.54*4E

2021-08-14T20:47:38.564Z,1628974058.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:40.141Z,1628974060.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:40.141Z,1628974060.141 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:40.142Z,1628974060.142 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:47:41.376Z,1628974061.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:41.757Z,1628974061.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:41.757Z,1628974061.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:41.757Z,1628974061.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:41.758Z,1628974061.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:42.161Z,1628974062.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:42.161Z,1628974062.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:42.161Z,1628974062.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:42.163Z,1628974062.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:42.577Z,1628974062.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:43.395Z,1628974063.395 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204744.19*57

2021-08-14T20:47:44.207Z,1628974064.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:45.814Z,1628974065.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:45.815Z,1628974065.815 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:45.815Z,1628974065.815 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:47:47.073Z,1628974067.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:47.411Z,1628974067.411 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:47.411Z,1628974067.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:47.411Z,1628974067.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:47.412Z,1628974067.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:47.829Z,1628974067.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,185,80,80,7B,FF
2021-08-14T20:47:47.829Z,1628974067.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:47.829Z,1628974067.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:47.831Z,1628974067.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:48.225Z,1628974068.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:49.029Z,1628974069.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,011D8,186,80,80,4A,FF
2021-08-14T20:47:49.029Z,1628974069.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:47:49.033Z,1628974069.033 [Micromodem](INFO): Nmea in: $SNTTA,0.368369,0.367494,,,204749.86*56

2021-08-14T20:47:49.488Z,1628974069.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.580002 m, bearing: 231.955219 deg, deltaT: 21.908056 s, approachRate: -29.274160 m/s, LOS rate: -0.035707 deg/s, posRepo size: 4
2021-08-14T20:47:51.899Z,1628974071.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:52.261Z,1628974072.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:52.261Z,1628974072.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:52.261Z,1628974072.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:52.262Z,1628974072.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:52.689Z,1628974072.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,011D8,186,80,80,4A,FF
2021-08-14T20:47:52.690Z,1628974072.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:52.690Z,1628974072.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:52.704Z,1628974072.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:53.084Z,1628974073.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:53.894Z,1628974073.894 [Micromodem](INFO): Nmea in: $SNTTA,0.166316,,,,204754.74*46

2021-08-14T20:47:54.819Z,1628974074.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:56.317Z,1628974076.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,4A,FF
2021-08-14T20:47:56.317Z,1628974076.317 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,4A,FF
2021-08-14T20:47:56.317Z,1628974076.317 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:47:57.548Z,1628974077.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:47:57.933Z,1628974077.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:47:57.933Z,1628974077.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:47:57.933Z,1628974077.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:47:57.934Z,1628974077.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:47:58.347Z,1628974078.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,4A,FF
2021-08-14T20:47:58.348Z,1628974078.348 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:47:58.348Z,1628974078.348 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:47:58.350Z,1628974078.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:47:58.736Z,1628974078.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:47:59.563Z,1628974079.563 [Micromodem](INFO): Nmea in: $SNTTA,0.166316,,,,204800.38*40

2021-08-14T20:48:00.372Z,1628974080.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:01.158Z,1628974081.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,06E7F,186,80,80,4A,FF
2021-08-14T20:48:01.158Z,1628974081.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:48:01.617Z,1628974081.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1659.719971 m, bearing: 239.151315 deg, deltaT: 12.080184 s, approachRate: 117.807808 m/s, LOS rate: 0.595694 deg/s, posRepo size: 4
2021-08-14T20:48:04.034Z,1628974084.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:04.389Z,1628974084.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:04.389Z,1628974084.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:04.389Z,1628974084.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:04.390Z,1628974084.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:04.845Z,1628974084.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,06E7F,186,80,80,4A,FF
2021-08-14T20:48:04.845Z,1628974084.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:04.845Z,1628974084.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:04.848Z,1628974084.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:05.216Z,1628974085.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:06.022Z,1628974086.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204806.88*56

2021-08-14T20:48:06.910Z,1628974086.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:07.633Z,1628974087.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,061D8,186,80,80,3C,FF
2021-08-14T20:48:07.633Z,1628974087.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:48:08.096Z,1628974088.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1465.380005 m, bearing: 242.906717 deg, deltaT: 6.484822 s, approachRate: -29.968435 m/s, LOS rate: 0.579106 deg/s, posRepo size: 4
2021-08-14T20:48:10.526Z,1628974090.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:10.861Z,1628974090.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:10.861Z,1628974090.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:10.861Z,1628974090.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:10.862Z,1628974090.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:11.269Z,1628974091.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,061D8,186,80,80,3C,FF
2021-08-14T20:48:11.269Z,1628974091.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:11.269Z,1628974091.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:11.271Z,1628974091.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:11.693Z,1628974091.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:12.514Z,1628974092.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204813.31*50

2021-08-14T20:48:13.318Z,1628974093.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:14.913Z,1628974094.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:14.914Z,1628974094.914 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:14.914Z,1628974094.914 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:15.861Z,1628974095.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:16.117Z,1628974096.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:16.117Z,1628974096.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:16.117Z,1628974096.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:16.118Z,1628974096.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:16.530Z,1628974096.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:16.530Z,1628974096.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:16.530Z,1628974096.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:16.532Z,1628974096.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:16.936Z,1628974096.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:17.754Z,1628974097.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204818.56*5A

2021-08-14T20:48:18.566Z,1628974098.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:20.157Z,1628974100.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:20.157Z,1628974100.157 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:20.158Z,1628974100.158 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:21.415Z,1628974101.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:21.773Z,1628974101.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:21.773Z,1628974101.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:21.773Z,1628974101.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:21.774Z,1628974101.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:22.177Z,1628974102.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:22.177Z,1628974102.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:22.177Z,1628974102.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:22.179Z,1628974102.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:22.584Z,1628974102.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:23.415Z,1628974103.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204824.21*55

2021-08-14T20:48:24.225Z,1628974104.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:25.825Z,1628974105.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:25.826Z,1628974105.826 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:25.826Z,1628974105.826 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:27.092Z,1628974107.092 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T20:48:27.092Z,1628974107.092 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T20:48:27.092Z,1628974107.092 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T20:48:27.114Z,1628974107.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:27.232Z,1628974107.232 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T20:48:27.441Z,1628974107.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:27.441Z,1628974107.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:27.441Z,1628974107.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:27.442Z,1628974107.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:27.544Z,1628974107.544 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T20:48:27.841Z,1628974107.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:27.841Z,1628974107.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:27.841Z,1628974107.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:27.843Z,1628974107.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:28.250Z,1628974108.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:28.422Z,1628974108.422 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T20:48:28.422Z,1628974108.422 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T20:48:29.055Z,1628974109.055 [Micromodem](INFO): Nmea in: $SNTTA,0.187357,0.361394,,,204829.88*5E

2021-08-14T20:48:29.886Z,1628974109.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:31.486Z,1628974111.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:31.486Z,1628974111.486 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:31.487Z,1628974111.487 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:32.703Z,1628974112.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:33.092Z,1628974113.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:33.092Z,1628974113.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:33.093Z,1628974113.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:33.093Z,1628974113.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:33.493Z,1628974113.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:33.493Z,1628974113.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:33.493Z,1628974113.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:33.496Z,1628974113.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:33.917Z,1628974113.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:34.734Z,1628974114.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204835.53*50

2021-08-14T20:48:35.542Z,1628974115.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:37.138Z,1628974117.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:37.138Z,1628974117.138 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:37.139Z,1628974117.139 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:38.359Z,1628974118.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:38.760Z,1628974118.760 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:38.760Z,1628974118.760 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:38.761Z,1628974118.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:38.762Z,1628974118.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:39.149Z,1628974119.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:39.149Z,1628974119.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:39.149Z,1628974119.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:39.151Z,1628974119.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:39.556Z,1628974119.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:40.386Z,1628974120.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204841.18*5C

2021-08-14T20:48:41.186Z,1628974121.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:42.841Z,1628974122.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:42.841Z,1628974122.841 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:42.841Z,1628974122.841 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:44.047Z,1628974124.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:44.422Z,1628974124.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:44.423Z,1628974124.423 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:44.423Z,1628974124.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:44.425Z,1628974124.425 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:44.853Z,1628974124.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:44.853Z,1628974124.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:44.853Z,1628974124.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:44.855Z,1628974124.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:45.221Z,1628974125.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:46.027Z,1628974126.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204846.89*53

2021-08-14T20:48:46.906Z,1628974126.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:48.446Z,1628974128.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:48.446Z,1628974128.446 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:48.446Z,1628974128.446 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:49.679Z,1628974129.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:50.058Z,1628974130.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:50.058Z,1628974130.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:50.058Z,1628974130.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:50.059Z,1628974130.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:50.466Z,1628974130.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:50.466Z,1628974130.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:50.466Z,1628974130.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:50.493Z,1628974130.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:50.877Z,1628974130.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:50.911Z,1628974130.911 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-14T20:48:51.683Z,1628974131.683 [Micromodem](INFO): Nmea in: $SNTTA,0.197030,,,,204852.53*43

2021-08-14T20:48:52.494Z,1628974132.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:54.093Z,1628974134.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:54.094Z,1628974134.094 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:54.094Z,1628974134.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:48:55.345Z,1628974135.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:55.709Z,1628974135.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:48:55.709Z,1628974135.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:48:55.709Z,1628974135.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:48:55.710Z,1628974135.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:48:56.124Z,1628974136.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:56.124Z,1628974136.124 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:48:56.125Z,1628974136.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:48:56.127Z,1628974136.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:48:56.520Z,1628974136.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:48:57.355Z,1628974137.355 [Micromodem](INFO): Nmea in: $SNTTA,0.260170,,,,204858.16*46

2021-08-14T20:48:58.182Z,1628974138.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:48:59.761Z,1628974139.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:59.761Z,1628974139.761 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:48:59.762Z,1628974139.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:01.062Z,1628974141.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:01.369Z,1628974141.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:01.369Z,1628974141.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:01.369Z,1628974141.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:01.370Z,1628974141.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:01.794Z,1628974141.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:49:01.794Z,1628974141.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:01.794Z,1628974141.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:01.797Z,1628974141.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:02.188Z,1628974142.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:02.994Z,1628974142.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204903.83*59

2021-08-14T20:49:03.869Z,1628974143.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:05.429Z,1628974145.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:49:05.429Z,1628974145.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:49:05.429Z,1628974145.429 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:06.643Z,1628974146.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:07.033Z,1628974147.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:07.033Z,1628974147.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:07.033Z,1628974147.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:07.034Z,1628974147.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:07.433Z,1628974147.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3C,FF
2021-08-14T20:49:07.433Z,1628974147.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:07.433Z,1628974147.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:07.435Z,1628974147.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:07.833Z,1628974147.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:08.651Z,1628974148.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0167D,185,80,80,51,FF
2021-08-14T20:49:08.652Z,1628974148.652 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:49:08.659Z,1628974148.659 [Micromodem](INFO): Nmea in: $SNTTA,0.488816,,,,204909.51*49

2021-08-14T20:49:09.160Z,1628974149.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.919983 m, bearing: 253.001272 deg, deltaT: 61.004664 s, approachRate: -18.973303 m/s, LOS rate: 0.165472 deg/s, posRepo size: 4
2021-08-14T20:49:11.491Z,1628974151.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:11.873Z,1628974151.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:11.873Z,1628974151.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:11.873Z,1628974151.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:11.874Z,1628974151.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:12.286Z,1628974152.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0167D,185,80,80,51,FF
2021-08-14T20:49:12.286Z,1628974152.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:12.286Z,1628974152.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:12.288Z,1628974152.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:12.685Z,1628974152.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:13.513Z,1628974153.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,016C2,187,80,80,59,FF
2021-08-14T20:49:13.514Z,1628974153.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:49:13.517Z,1628974153.517 [Micromodem](INFO): Nmea in: $SNTTA,0.209940,,,,204914.32*4D

2021-08-14T20:49:13.934Z,1628974153.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.059998 m, bearing: 254.111669 deg, deltaT: 4.824273 s, approachRate: 0.858163 m/s, LOS rate: 0.230169 deg/s, posRepo size: 4
2021-08-14T20:49:16.340Z,1628974156.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:16.725Z,1628974156.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:16.725Z,1628974156.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:16.726Z,1628974156.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:16.726Z,1628974156.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:17.129Z,1628974157.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,016C2,187,80,80,59,FF
2021-08-14T20:49:17.129Z,1628974157.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:17.129Z,1628974157.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:17.131Z,1628974157.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:17.537Z,1628974157.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:18.365Z,1628974158.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,0170A,186,80,80,51,FF
2021-08-14T20:49:18.365Z,1628974158.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:49:18.368Z,1628974158.368 [Micromodem](INFO): Nmea in: $SNTTA,0.210333,,,,204919.16*40

2021-08-14T20:49:18.854Z,1628974158.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.379974 m, bearing: 254.575986 deg, deltaT: 4.851435 s, approachRate: 0.890453 m/s, LOS rate: 0.095707 deg/s, posRepo size: 4
2021-08-14T20:49:20.948Z,1628974160.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:21.165Z,1628974161.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:21.165Z,1628974161.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:21.165Z,1628974161.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:21.166Z,1628974161.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:21.569Z,1628974161.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,0170A,186,80,80,51,FF
2021-08-14T20:49:21.569Z,1628974161.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:21.570Z,1628974161.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:21.571Z,1628974161.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:21.976Z,1628974161.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:22.838Z,1628974162.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204923.60*56

2021-08-14T20:49:23.607Z,1628974163.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:25.206Z,1628974165.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:25.206Z,1628974165.206 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:25.206Z,1628974165.206 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:26.451Z,1628974166.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:26.846Z,1628974166.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:26.846Z,1628974166.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:26.846Z,1628974166.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:26.847Z,1628974166.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:27.229Z,1628974167.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:27.229Z,1628974167.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:27.230Z,1628974167.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:27.231Z,1628974167.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:27.633Z,1628974167.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:28.462Z,1628974168.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204929.27*5F

2021-08-14T20:49:29.269Z,1628974169.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:30.866Z,1628974170.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:30.867Z,1628974170.867 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:30.867Z,1628974170.867 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:32.122Z,1628974172.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:32.477Z,1628974172.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:32.477Z,1628974172.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:32.477Z,1628974172.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:32.478Z,1628974172.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:32.881Z,1628974172.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:32.881Z,1628974172.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:32.881Z,1628974172.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:32.883Z,1628974172.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:33.301Z,1628974173.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:34.122Z,1628974174.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204934.92*5D

2021-08-14T20:49:34.970Z,1628974174.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:36.521Z,1628974176.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:36.521Z,1628974176.521 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:36.521Z,1628974176.521 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:37.804Z,1628974177.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:38.137Z,1628974178.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:38.137Z,1628974178.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:38.137Z,1628974178.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:38.138Z,1628974178.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:38.546Z,1628974178.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:38.546Z,1628974178.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:38.546Z,1628974178.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:38.548Z,1628974178.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:38.949Z,1628974178.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:38.979Z,1628974178.979 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:49:39.787Z,1628974179.787 [Micromodem](INFO): Nmea in: $SNTTA,0.049463,,,,204940.58*4A

2021-08-14T20:49:40.579Z,1628974180.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:42.177Z,1628974182.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:42.177Z,1628974182.177 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:42.178Z,1628974182.178 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:43.430Z,1628974183.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:43.833Z,1628974183.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:43.833Z,1628974183.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:43.833Z,1628974183.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:43.834Z,1628974183.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:44.213Z,1628974184.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:44.213Z,1628974184.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:44.213Z,1628974184.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:44.215Z,1628974184.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:44.604Z,1628974184.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:45.431Z,1628974185.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204946.25*54

2021-08-14T20:49:46.252Z,1628974186.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:47.849Z,1628974187.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:47.849Z,1628974187.849 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:47.849Z,1628974187.849 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:49.113Z,1628974189.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:49.465Z,1628974189.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:49.465Z,1628974189.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:49.465Z,1628974189.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:49.466Z,1628974189.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:49.865Z,1628974189.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:49.865Z,1628974189.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:49.865Z,1628974189.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:49.867Z,1628974189.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:50.269Z,1628974190.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:51.071Z,1628974191.071 [Micromodem](INFO): Nmea in: $SNTTA,0.391639,0.392139,,,204951.90*58

2021-08-14T20:49:51.929Z,1628974191.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:53.497Z,1628974193.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:53.497Z,1628974193.497 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:53.497Z,1628974193.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:54.818Z,1628974194.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:55.109Z,1628974195.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:49:55.109Z,1628974195.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:49:55.109Z,1628974195.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:49:55.110Z,1628974195.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:49:55.510Z,1628974195.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:55.510Z,1628974195.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:49:55.510Z,1628974195.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:49:55.517Z,1628974195.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:49:55.928Z,1628974195.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:49:56.759Z,1628974196.759 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204957.55*53

2021-08-14T20:49:57.579Z,1628974197.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:49:59.149Z,1628974199.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:59.149Z,1628974199.149 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:49:59.150Z,1628974199.150 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:49:59.165Z,1628974199.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T20:50:00.434Z,1628974200.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:00.813Z,1628974200.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:00.813Z,1628974200.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:00.814Z,1628974200.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:00.814Z,1628974200.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:01.169Z,1628974201.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:01.169Z,1628974201.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:01.170Z,1628974201.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:01.171Z,1628974201.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:01.586Z,1628974201.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:02.420Z,1628974202.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205003.21*59

2021-08-14T20:50:03.227Z,1628974203.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:04.845Z,1628974204.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:04.846Z,1628974204.846 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:04.846Z,1628974204.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:06.054Z,1628974206.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:06.433Z,1628974206.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:06.434Z,1628974206.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:06.434Z,1628974206.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:06.435Z,1628974206.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:06.842Z,1628974206.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:06.842Z,1628974206.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:06.842Z,1628974206.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:06.844Z,1628974206.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:07.241Z,1628974207.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:08.054Z,1628974208.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205008.88*51

2021-08-14T20:50:08.928Z,1628974208.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:10.485Z,1628974210.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:10.485Z,1628974210.485 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:10.485Z,1628974210.485 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:10.871Z,1628974210.871 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:50:11.702Z,1628974211.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:12.089Z,1628974212.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:12.089Z,1628974212.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:12.089Z,1628974212.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:12.090Z,1628974212.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:12.489Z,1628974212.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:12.489Z,1628974212.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:12.489Z,1628974212.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:12.491Z,1628974212.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:12.888Z,1628974212.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:13.730Z,1628974213.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205014.52*5B

2021-08-14T20:50:14.534Z,1628974214.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:16.145Z,1628974216.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:16.145Z,1628974216.145 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:16.145Z,1628974216.145 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:17.367Z,1628974217.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:17.776Z,1628974217.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:17.776Z,1628974217.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:17.776Z,1628974217.776 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:17.777Z,1628974217.777 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:18.149Z,1628974218.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:18.149Z,1628974218.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:18.149Z,1628974218.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:18.151Z,1628974218.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:18.565Z,1628974218.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:19.424Z,1628974219.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205020.19*53

2021-08-14T20:50:20.206Z,1628974220.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:21.821Z,1628974221.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:21.821Z,1628974221.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:21.821Z,1628974221.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:23.066Z,1628974223.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:23.406Z,1628974223.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:23.406Z,1628974223.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:23.406Z,1628974223.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:23.407Z,1628974223.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:23.810Z,1628974223.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:23.810Z,1628974223.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:23.810Z,1628974223.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:23.812Z,1628974223.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:24.213Z,1628974224.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:25.019Z,1628974225.019 [Micromodem](INFO): Nmea in: $SNTTA,0.378131,0.378362,,,205025.84*56

2021-08-14T20:50:25.034Z,1628974225.034 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T20:50:25.862Z,1628974225.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:27.050Z,1628974227.050 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:50:27.454Z,1628974227.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:27.454Z,1628974227.454 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:27.454Z,1628974227.454 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:28.671Z,1628974228.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:29.057Z,1628974229.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:29.057Z,1628974229.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:29.057Z,1628974229.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:29.058Z,1628974229.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:29.124Z,1628974229.124 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T20:50:29.469Z,1628974229.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:29.469Z,1628974229.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:29.469Z,1628974229.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:29.471Z,1628974229.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:29.878Z,1628974229.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:30.696Z,1628974230.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205031.50*5E

2021-08-14T20:50:31.517Z,1628974231.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:33.093Z,1628974233.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:33.094Z,1628974233.094 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:33.094Z,1628974233.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:34.338Z,1628974234.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:34.729Z,1628974234.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:34.729Z,1628974234.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:34.729Z,1628974234.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:34.730Z,1628974234.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:35.123Z,1628974235.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:35.123Z,1628974235.123 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:35.123Z,1628974235.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:35.125Z,1628974235.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:35.544Z,1628974235.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:36.355Z,1628974236.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205037.16*5A

2021-08-14T20:50:37.190Z,1628974237.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:38.790Z,1628974238.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:38.791Z,1628974238.791 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:38.791Z,1628974238.791 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:40.029Z,1628974240.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:40.373Z,1628974240.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:40.373Z,1628974240.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:40.373Z,1628974240.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:40.374Z,1628974240.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:40.825Z,1628974240.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:40.825Z,1628974240.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:40.825Z,1628974240.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:40.827Z,1628974240.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:41.201Z,1628974241.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:42.017Z,1628974242.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205042.86*51

2021-08-14T20:50:42.928Z,1628974242.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:44.449Z,1628974244.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:44.449Z,1628974244.449 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:44.449Z,1628974244.449 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:45.671Z,1628974245.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:46.057Z,1628974246.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:46.057Z,1628974246.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:46.057Z,1628974246.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:46.058Z,1628974246.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:46.461Z,1628974246.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:46.461Z,1628974246.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:46.461Z,1628974246.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:46.463Z,1628974246.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:46.861Z,1628974246.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:48.509Z,1628974248.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:50.093Z,1628974250.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:50.093Z,1628974250.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:50.093Z,1628974250.093 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:51.327Z,1628974251.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:51.709Z,1628974251.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:51.709Z,1628974251.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:51.709Z,1628974251.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:51.710Z,1628974251.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:52.105Z,1628974252.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:52.105Z,1628974252.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:52.105Z,1628974252.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:52.107Z,1628974252.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:52.520Z,1628974252.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:52.955Z,1628974252.955 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-14T20:50:53.346Z,1628974253.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205054.14*5D

2021-08-14T20:50:54.172Z,1628974254.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:55.771Z,1628974255.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:55.771Z,1628974255.771 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:55.772Z,1628974255.772 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:50:57.030Z,1628974257.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:50:57.365Z,1628974257.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:50:57.366Z,1628974257.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:50:57.366Z,1628974257.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:50:57.367Z,1628974257.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:50:57.781Z,1628974257.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:50:57.781Z,1628974257.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:50:57.781Z,1628974257.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:50:57.783Z,1628974257.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:50:58.170Z,1628974258.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:50:58.991Z,1628974258.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205059.82*5F

2021-08-14T20:50:59.877Z,1628974259.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:01.398Z,1628974261.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:01.398Z,1628974261.398 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:01.398Z,1628974261.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:02.643Z,1628974262.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:03.019Z,1628974263.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:03.019Z,1628974263.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:03.020Z,1628974263.020 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:03.021Z,1628974263.021 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:03.423Z,1628974263.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:03.423Z,1628974263.423 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:03.423Z,1628974263.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:03.426Z,1628974263.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:03.824Z,1628974263.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:04.671Z,1628974264.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205105.46*5F

2021-08-14T20:51:05.492Z,1628974265.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:07.053Z,1628974267.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:07.053Z,1628974267.053 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:07.054Z,1628974267.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:08.297Z,1628974268.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:08.669Z,1628974268.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:08.669Z,1628974268.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:08.669Z,1628974268.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:08.670Z,1628974268.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:09.073Z,1628974269.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:09.073Z,1628974269.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:09.074Z,1628974269.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:09.075Z,1628974269.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:09.490Z,1628974269.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:10.310Z,1628974270.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205111.11*58

2021-08-14T20:51:11.173Z,1628974271.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:12.723Z,1628974272.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:12.728Z,1628974272.728 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:12.728Z,1628974272.728 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:13.954Z,1628974273.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:14.325Z,1628974274.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:14.325Z,1628974274.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:14.325Z,1628974274.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:14.326Z,1628974274.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:14.742Z,1628974274.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:14.743Z,1628974274.743 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:14.752Z,1628974274.752 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:14.769Z,1628974274.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:15.137Z,1628974275.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:15.966Z,1628974275.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205116.80*57

2021-08-14T20:51:16.829Z,1628974276.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:18.369Z,1628974278.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:18.370Z,1628974278.370 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:18.370Z,1628974278.370 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:19.595Z,1628974279.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:19.989Z,1628974279.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:19.989Z,1628974279.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:19.989Z,1628974279.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:19.990Z,1628974279.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:20.390Z,1628974280.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:20.390Z,1628974280.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:20.390Z,1628974280.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:20.392Z,1628974280.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:20.840Z,1628974280.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:21.618Z,1628974281.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205122.43*5F

2021-08-14T20:51:22.453Z,1628974282.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:24.025Z,1628974284.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:24.025Z,1628974284.025 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:24.026Z,1628974284.026 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:25.271Z,1628974285.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:25.637Z,1628974285.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:25.637Z,1628974285.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:25.637Z,1628974285.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:25.638Z,1628974285.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:26.041Z,1628974286.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:26.042Z,1628974286.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:26.042Z,1628974286.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:26.043Z,1628974286.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:26.467Z,1628974286.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:27.278Z,1628974287.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205128.08*5A

2021-08-14T20:51:28.102Z,1628974288.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:29.677Z,1628974289.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:29.678Z,1628974289.678 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:29.678Z,1628974289.678 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:30.954Z,1628974290.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:31.297Z,1628974291.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:31.297Z,1628974291.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:31.297Z,1628974291.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:31.298Z,1628974291.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:31.706Z,1628974291.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:31.706Z,1628974291.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:31.706Z,1628974291.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:31.708Z,1628974291.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:32.105Z,1628974292.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:32.934Z,1628974292.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205133.74*5B

2021-08-14T20:51:33.804Z,1628974293.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:35.333Z,1628974295.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:35.333Z,1628974295.333 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:35.333Z,1628974295.333 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:51:36.577Z,1628974296.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:36.945Z,1628974296.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:36.945Z,1628974296.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:36.945Z,1628974296.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:36.946Z,1628974296.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:37.354Z,1628974297.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,51,FF
2021-08-14T20:51:37.354Z,1628974297.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:37.354Z,1628974297.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:37.356Z,1628974297.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:37.784Z,1628974297.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:38.589Z,1628974298.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,01F2B,185,80,80,4C,FF
2021-08-14T20:51:38.589Z,1628974298.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:51:38.616Z,1628974298.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205139.39*58

2021-08-14T20:51:39.042Z,1628974299.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 441.240021 m, bearing: 250.655949 deg, deltaT: 140.248581 s, approachRate: 0.890277 m/s, LOS rate: -0.027951 deg/s, posRepo size: 4
2021-08-14T20:51:39.043Z,1628974299.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 441.24 m. Resuming terminal guidance.
2021-08-14T20:51:39.043Z,1628974299.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-14T20:51:41.435Z,1628974301.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:41.813Z,1628974301.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:41.813Z,1628974301.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:41.813Z,1628974301.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:41.814Z,1628974301.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:42.201Z,1628974302.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,01F2B,185,80,80,4C,FF
2021-08-14T20:51:42.201Z,1628974302.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:42.201Z,1628974302.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:42.203Z,1628974302.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:42.609Z,1628974302.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:43.437Z,1628974303.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,01F79,185,80,80,48,FF
2021-08-14T20:51:43.437Z,1628974303.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:51:43.440Z,1628974303.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205144.24*5E

2021-08-14T20:51:43.878Z,1628974303.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 445.919983 m, bearing: 251.171054 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-14T20:51:43.879Z,1628974303.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 251.171054deg and heading rate command to 0 deg/s.
2021-08-14T20:51:46.286Z,1628974306.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:46.645Z,1628974306.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:46.645Z,1628974306.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:46.645Z,1628974306.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:46.646Z,1628974306.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:47.089Z,1628974307.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,01F79,185,80,80,48,FF
2021-08-14T20:51:47.089Z,1628974307.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:47.089Z,1628974307.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:47.091Z,1628974307.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:47.483Z,1628974307.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:48.271Z,1628974308.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,01F79,185,80,80,48,FF
2021-08-14T20:51:48.276Z,1628974308.276 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:51:48.292Z,1628974308.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205149.12*56

2021-08-14T20:51:48.716Z,1628974308.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 445.919983 m, bearing: 232.753258 deg, deltaT: 4.835847 s, approachRate: 0.000000 m/s, LOS rate: -3.808598 deg/s, posRepo size: 2
2021-08-14T20:51:48.722Z,1628974308.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 445.919983 m,
      bearing: 232.753258 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.808598 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 251.171054 deg,
      new cmd heading: 251.171054 deg.

2021-08-14T20:51:51.179Z,1628974311.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:51.505Z,1628974311.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:51.505Z,1628974311.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:51.505Z,1628974311.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:51.506Z,1628974311.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:51.913Z,1628974311.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,01F79,185,80,80,48,FF
2021-08-14T20:51:51.913Z,1628974311.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:51.913Z,1628974311.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:51.915Z,1628974311.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:52.313Z,1628974312.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:53.137Z,1628974313.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,0200C,187,80,80,2A,FF
2021-08-14T20:51:53.137Z,1628974313.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:51:53.140Z,1628974313.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205153.95*52

2021-08-14T20:51:53.561Z,1628974313.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 454.739960 m, bearing: 243.695194 deg, deltaT: 4.896209 s, approachRate: 1.801389 m/s, LOS rate: 2.234777 deg/s, posRepo size: 3
2021-08-14T20:51:53.563Z,1628974313.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 454.739960 m,
      bearing: 243.695194 deg,
      approachRate: 1.801389 m/s,
      LOS rate: 2.234777 deg/s,
      cmd update: 8.939108 deg/s,
      cmd heading: 192.368677 deg,
      new cmd heading: 188.401021 deg.

2021-08-14T20:51:55.989Z,1628974315.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:51:56.345Z,1628974316.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:51:56.345Z,1628974316.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:51:56.345Z,1628974316.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:51:56.346Z,1628974316.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:51:56.801Z,1628974316.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,0200C,187,80,80,2A,FF
2021-08-14T20:51:56.801Z,1628974316.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:51:56.802Z,1628974316.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:51:56.803Z,1628974316.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:51:57.257Z,1628974317.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:51:58.065Z,1628974318.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,02051,186,80,80,38,FF
2021-08-14T20:51:58.065Z,1628974318.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:51:58.068Z,1628974318.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205158.84*59

2021-08-14T20:51:58.511Z,1628974318.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 458.880005 m, bearing: 251.543873 deg, deltaT: 4.888609 s, approachRate: 0.846876 m/s, LOS rate: 1.605504 deg/s, posRepo size: 4
2021-08-14T20:51:58.520Z,1628974318.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 458.880005 m,
      bearing: 251.543873 deg,
      approachRate: 0.846876 m/s,
      LOS rate: 1.605504 deg/s,
      cmd update: 6.422015 deg/s,
      cmd heading: 236.103952 deg,
      new cmd heading: 239.580219 deg.

2021-08-14T20:52:00.967Z,1628974320.967 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-14T20:52:00.994Z,1628974320.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:01.269Z,1628974321.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:01.269Z,1628974321.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:01.269Z,1628974321.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:01.270Z,1628974321.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:01.681Z,1628974321.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,02051,186,80,80,38,FF
2021-08-14T20:52:01.681Z,1628974321.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:01.682Z,1628974321.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:01.683Z,1628974321.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:02.085Z,1628974322.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:02.923Z,1628974322.923 [Micromodem](INFO): Nmea in: $SNTTA,0.482227,0.482158,,,205203.72*56

2021-08-14T20:52:03.724Z,1628974323.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:04.933Z,1628974324.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,07C9F,187,80,80,20,FF
2021-08-14T20:52:04.934Z,1628974324.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:52:05.371Z,1628974325.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1876.679932 m, bearing: 246.333696 deg, deltaT: 6.904164 s, approachRate: 205.354324 m/s, LOS rate: -0.754643 deg/s, posRepo size: 4
2021-08-14T20:52:05.373Z,1628974325.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1876.679932 m,
      bearing: 246.333696 deg,
      approachRate: 205.354324 m/s,
      LOS rate: -0.754643 deg/s,
      cmd update: -3.018571 deg/s,
      cmd heading: 280.442625 deg,
      new cmd heading: 282.652601 deg.

2021-08-14T20:52:07.804Z,1628974327.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:08.149Z,1628974328.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:08.149Z,1628974328.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:08.150Z,1628974328.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:08.151Z,1628974328.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:08.545Z,1628974328.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,07C9F,187,80,80,20,FF
2021-08-14T20:52:08.545Z,1628974328.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:08.545Z,1628974328.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:08.547Z,1628974328.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:08.962Z,1628974328.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:09.802Z,1628974329.802 [Micromodem](INFO): Nmea in: $SNTTA,0.051038,,,,205210.58*46

2021-08-14T20:52:10.620Z,1628974330.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:12.181Z,1628974332.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:12.182Z,1628974332.182 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:12.182Z,1628974332.182 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:13.445Z,1628974333.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:13.830Z,1628974333.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:13.830Z,1628974333.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:13.830Z,1628974333.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:13.831Z,1628974333.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:14.201Z,1628974334.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:14.201Z,1628974334.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:14.201Z,1628974334.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:14.203Z,1628974334.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:14.608Z,1628974334.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:15.024Z,1628974335.024 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:52:15.440Z,1628974335.440 [Micromodem](INFO): Nmea in: $SNTTA,,0.222099,,,205216.24*46

2021-08-14T20:52:16.240Z,1628974336.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:17.841Z,1628974337.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:17.841Z,1628974337.841 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:17.842Z,1628974337.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:19.058Z,1628974339.058 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:52:19.098Z,1628974339.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:19.470Z,1628974339.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:19.474Z,1628974339.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:19.474Z,1628974339.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:19.475Z,1628974339.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:19.866Z,1628974339.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:19.866Z,1628974339.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:19.866Z,1628974339.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:19.868Z,1628974339.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:20.264Z,1628974340.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:21.098Z,1628974341.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205221.90*51

2021-08-14T20:52:21.111Z,1628974341.111 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-14T20:52:21.925Z,1628974341.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:23.493Z,1628974343.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:23.493Z,1628974343.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:23.493Z,1628974343.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:24.748Z,1628974344.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:25.117Z,1628974345.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:25.117Z,1628974345.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:25.117Z,1628974345.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:25.118Z,1628974345.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:25.509Z,1628974345.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:25.509Z,1628974345.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:25.510Z,1628974345.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:25.511Z,1628974345.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:25.920Z,1628974345.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:26.791Z,1628974346.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205227.55*5E

2021-08-14T20:52:27.555Z,1628974347.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:29.160Z,1628974349.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:29.161Z,1628974349.161 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:29.161Z,1628974349.161 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:30.388Z,1628974350.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:30.804Z,1628974350.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:30.804Z,1628974350.804 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:30.804Z,1628974350.804 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:30.804Z,1628974350.804 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:31.180Z,1628974351.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:31.180Z,1628974351.180 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:31.180Z,1628974351.180 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:31.182Z,1628974351.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:31.581Z,1628974351.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:32.411Z,1628974352.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205233.22*5B

2021-08-14T20:52:32.916Z,1628974352.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:34.853Z,1628974354.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:34.854Z,1628974354.854 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:34.854Z,1628974354.854 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:35.659Z,1628974355.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:36.026Z,1628974356.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:36.027Z,1628974356.027 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:36.027Z,1628974356.027 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:36.028Z,1628974356.028 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:36.430Z,1628974356.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:36.430Z,1628974356.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:36.431Z,1628974356.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:36.432Z,1628974356.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:36.857Z,1628974356.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:37.654Z,1628974357.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205238.47*53

2021-08-14T20:52:38.482Z,1628974358.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:40.069Z,1628974360.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:40.069Z,1628974360.069 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:40.069Z,1628974360.069 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:41.287Z,1628974361.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:41.677Z,1628974361.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:41.677Z,1628974361.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:41.677Z,1628974361.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:41.678Z,1628974361.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:42.085Z,1628974362.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,20,FF
2021-08-14T20:52:42.085Z,1628974362.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:42.085Z,1628974362.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:42.087Z,1628974362.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:42.489Z,1628974362.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:44.102Z,1628974364.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,047E1,184,80,80,20,FF
2021-08-14T20:52:44.102Z,1628974364.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:52:44.560Z,1628974364.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1066.560059 m, bearing: 172.731482 deg, deltaT: 39.135093 s, approachRate: -20.700600 m/s, LOS rate: -1.880722 deg/s, posRepo size: 4
2021-08-14T20:52:44.562Z,1628974364.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1066.560059 m,
      bearing: 172.731482 deg,
      approachRate: -20.700600 m/s,
      LOS rate: -1.880722 deg/s,
      cmd update: -7.522886 deg/s,
      cmd heading: 162.323373 deg,
      new cmd heading: 161.109059 deg.

2021-08-14T20:52:46.990Z,1628974366.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:47.333Z,1628974367.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:47.333Z,1628974367.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:47.333Z,1628974367.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:47.334Z,1628974367.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:47.736Z,1628974367.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,047E1,184,80,80,20,FF
2021-08-14T20:52:47.737Z,1628974367.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:47.737Z,1628974367.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:47.743Z,1628974367.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:48.144Z,1628974368.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:48.974Z,1628974368.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,047E1,184,80,80,20,FF
2021-08-14T20:52:48.975Z,1628974368.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:52:48.978Z,1628974368.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205249.78*59

2021-08-14T20:52:49.384Z,1628974369.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1066.560059 m, bearing: 108.599557 deg, deltaT: 4.907792 s, approachRate: 0.000000 m/s, LOS rate: -13.067369 deg/s, posRepo size: 4
2021-08-14T20:52:49.385Z,1628974369.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.067369 deg/s. Setting heading cmd to target bearing of 108.599557deg and heading rate command to 0 deg/s.
2021-08-14T20:52:50.996Z,1628974370.996 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:52:51.836Z,1628974371.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:52.173Z,1628974372.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:52.173Z,1628974372.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:52.173Z,1628974372.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:52.174Z,1628974372.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:52.577Z,1628974372.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,047E1,184,80,80,20,FF
2021-08-14T20:52:52.577Z,1628974372.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:52.578Z,1628974372.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:52.579Z,1628974372.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:52.996Z,1628974372.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:53.048Z,1628974373.048 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-14T20:52:53.822Z,1628974373.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205254.61*5D

2021-08-14T20:52:54.618Z,1628974374.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:56.221Z,1628974376.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,184,80,80,20,FF
2021-08-14T20:52:56.222Z,1628974376.222 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,184,80,80,20,FF
2021-08-14T20:52:56.222Z,1628974376.222 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:52:57.046Z,1628974377.046 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-14T20:52:57.462Z,1628974377.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:52:57.837Z,1628974377.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:52:57.837Z,1628974377.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:52:57.837Z,1628974377.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:52:57.838Z,1628974377.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:52:58.237Z,1628974378.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,184,80,80,20,FF
2021-08-14T20:52:58.237Z,1628974378.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:52:58.237Z,1628974378.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:52:58.239Z,1628974378.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:52:58.652Z,1628974378.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:52:59.064Z,1628974379.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:52:59.487Z,1628974379.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41E,000,022
1,184,80,80,20,FF
2021-08-14T20:52:59.491Z,1628974379.491 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,41E,000,022
1,184,80,80,20,FF
2021-08-14T20:52:59.521Z,1628974379.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205300.27*5F

2021-08-14T20:53:00.287Z,1628974380.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:03.102Z,1628974383.102 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:53:03.131Z,1628974383.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:03.912Z,1628974383.912 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073878
2021-08-14T20:53:05.127Z,1628974385.127 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-14T20:53:05.127Z,1628974385.127 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-14T20:53:05.127Z,1628974385.127 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-14T20:53:05.264Z,1628974385.264 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-14T20:53:05.576Z,1628974385.576 [RDI_Pathfinder](INFO): Powering down
2021-08-14T20:53:05.973Z,1628974385.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:06.326Z,1628974386.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:06.326Z,1628974386.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:06.326Z,1628974386.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:06.327Z,1628974386.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:06.477Z,1628974386.477 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-14T20:53:06.477Z,1628974386.477 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-14T20:53:06.749Z,1628974386.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41E,000,022
1,184,80,80,20,FF
2021-08-14T20:53:06.749Z,1628974386.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:06.750Z,1628974386.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:06.764Z,1628974386.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:07.190Z,1628974387.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:08.005Z,1628974388.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F1,000,022
1,184,80,80,20,FF
2021-08-14T20:53:08.006Z,1628974388.006 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,3F1,000,022
1,184,80,80,20,FF
2021-08-14T20:53:08.030Z,1628974388.030 [Micromodem](INFO): Nmea in: $SNTTA,0.331433,,,,205308.80*41

2021-08-14T20:53:08.861Z,1628974388.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:11.646Z,1628974391.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:12.449Z,1628974392.449 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.121925
2021-08-14T20:53:14.462Z,1628974394.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:14.850Z,1628974394.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:14.850Z,1628974394.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:14.851Z,1628974394.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:14.851Z,1628974394.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:15.256Z,1628974395.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F1,000,022
1,184,80,80,20,FF
2021-08-14T20:53:15.257Z,1628974395.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:15.257Z,1628974395.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:15.259Z,1628974395.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:15.663Z,1628974395.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:16.489Z,1628974396.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,022
1,184,80,80,20,FF
2021-08-14T20:53:16.490Z,1628974396.490 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,3C0,000,022
1,184,80,80,20,FF
2021-08-14T20:53:16.506Z,1628974396.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205317.29*57

2021-08-14T20:53:17.317Z,1628974397.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:20.146Z,1628974400.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:21.016Z,1628974401.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.164699
2021-08-14T20:53:23.029Z,1628974403.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:23.325Z,1628974403.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:23.325Z,1628974403.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:23.325Z,1628974403.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:23.326Z,1628974403.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:23.732Z,1628974403.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,022
1,184,80,80,20,FF
2021-08-14T20:53:23.733Z,1628974403.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:23.733Z,1628974403.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:23.741Z,1628974403.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:24.137Z,1628974404.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:24.971Z,1628974404.971 [Micromodem](INFO): Nmea in: $SNTTA,0.487126,0.487226,,,205325.78*51

2021-08-14T20:53:25.801Z,1628974405.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:27.369Z,1628974407.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,184,80,80,20,FF
2021-08-14T20:53:27.369Z,1628974407.369 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,184,80,80,20,FF
2021-08-14T20:53:27.369Z,1628974407.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:53:28.611Z,1628974408.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:28.989Z,1628974408.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:28.989Z,1628974408.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:28.989Z,1628974408.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:28.990Z,1628974408.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:29.390Z,1628974409.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,184,80,80,20,FF
2021-08-14T20:53:29.390Z,1628974409.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:29.390Z,1628974409.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:29.393Z,1628974409.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:29.825Z,1628974409.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:30.625Z,1628974410.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,0E4
1,184,80,80,20,FF
2021-08-14T20:53:30.626Z,1628974410.626 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,3CF,000,0E4
1,184,80,80,20,FF
2021-08-14T20:53:30.641Z,1628974410.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205331.43*5F

2021-08-14T20:53:31.447Z,1628974411.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:34.263Z,1628974414.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:35.056Z,1628974415.056 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065867
2021-08-14T20:53:37.142Z,1628974417.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:37.474Z,1628974417.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:37.474Z,1628974417.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:37.474Z,1628974417.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:37.475Z,1628974417.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:37.866Z,1628974417.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,0E4
1,184,80,80,20,FF
2021-08-14T20:53:37.866Z,1628974417.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:37.866Z,1628974417.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:37.868Z,1628974417.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:38.288Z,1628974418.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:39.100Z,1628974419.100 [Micromodem](INFO): Nmea in: $SNTTA,0.379355,0.379417,,,205339.91*59

2021-08-14T20:53:39.485Z,1628974419.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,02201,189,80,80,64,FF
2021-08-14T20:53:39.485Z,1628974419.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:53:39.938Z,1628974419.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 484.799988 m, bearing: 63.341993 deg, deltaT: 50.478220 s, approachRate: -11.524972 m/s, LOS rate: -0.896576 deg/s, posRepo size: 4
2021-08-14T20:53:39.940Z,1628974419.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 484.799988 m,
      bearing: 63.341993 deg,
      approachRate: -11.524972 m/s,
      LOS rate: -0.896576 deg/s,
      cmd update: -3.586304 deg/s,
      cmd heading: 108.599557 deg,
      new cmd heading: 108.599557 deg.

2021-08-14T20:53:42.345Z,1628974422.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:42.721Z,1628974422.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:42.721Z,1628974422.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:42.721Z,1628974422.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:42.722Z,1628974422.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:43.125Z,1628974423.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,02201,189,80,80,64,FF
2021-08-14T20:53:43.125Z,1628974423.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:43.125Z,1628974423.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:43.127Z,1628974423.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:43.569Z,1628974423.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:44.386Z,1628974424.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205345.16*5C

2021-08-14T20:53:44.900Z,1628974424.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:46.808Z,1628974426.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,64,FF
2021-08-14T20:53:46.809Z,1628974426.809 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,64,FF
2021-08-14T20:53:46.810Z,1628974426.810 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-14T20:53:47.614Z,1628974427.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:48.001Z,1628974428.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:53:48.001Z,1628974428.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:53:48.002Z,1628974428.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:53:48.003Z,1628974428.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:53:48.410Z,1628974428.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,64,FF
2021-08-14T20:53:48.411Z,1628974428.411 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:53:48.411Z,1628974428.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:53:48.421Z,1628974428.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:53:48.839Z,1628974428.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:53:49.642Z,1628974429.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,,E4
1,189,80,80,64,FF
2021-08-14T20:53:49.642Z,1628974429.642 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,29E,000,,E4
1,189,80,80,64,FF
2021-08-14T20:53:49.657Z,1628974429.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205350.46*5D

2021-08-14T20:53:50.441Z,1628974430.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-14T20:53:51.259Z,1628974431.259 [lineCaptureDepth](INFO): Timed out from 2021-08-14T19:53:50.0Z
2021-08-14T20:53:51.259Z,1628974431.259 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-14T20:53:51.260Z,1628974431.260 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-14T20:53:51.260Z,1628974431.260 [lineCaptureDepth] Stopped
2021-08-14T20:53:51.260Z,1628974431.260 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-14T20:53:51.260Z,1628974431.260 [lineCaptureDepth:Science] Stopped
2021-08-14T20:53:51.260Z,1628974431.260 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-14T20:53:51.260Z,1628974431.260 [lineCaptureDepth:Science:B] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:Science:C] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T20:53:51.261Z,1628974431.261 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:TrackAC.] Stopped
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture] Stopped
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-14T20:53:51.262Z,1628974431.262 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-14T20:53:51.263Z,1628974431.263 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-14T20:53:51.264Z,1628974431.264 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-14T20:53:51.264Z,1628974431.264 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-14T20:53:51.264Z,1628974431.264 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-14T20:53:51.264Z,1628974431.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-14T20:53:51.264Z,1628974431.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-14T20:53:51.264Z,1628974431.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-14T20:53:51.265Z,1628974431.265 [lineCaptureDepth:Lap] Stopped
2021-08-14T20:53:51.266Z,1628974431.266 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-14T20:53:51.266Z,1628974431.266 [lineCaptureDepth:Lap:B] Stopped
2021-08-14T20:53:51.266Z,1628974431.266 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-14T20:53:51.432Z,1628974431.432 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-14T20:53:51.643Z,1628974431.643 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-14T20:53:51.643Z,1628974431.643 [DefaultWithUndock] Running Loop=1
2021-08-14T20:53:51.643Z,1628974431.643 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-14T20:53:51.644Z,1628974431.644 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-14T20:53:51.644Z,1628974431.644 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-14T20:54:21.933Z,1628974461.933 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-14T20:54:21.934Z,1628974461.934 [DefaultWithUndock:A.Wait] Stopped
2021-08-14T20:54:21.934Z,1628974461.934 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-14T20:54:21.934Z,1628974461.934 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-14T20:54:21.934Z,1628974461.934 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-14T20:54:21.934Z,1628974461.934 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-14T20:54:21.934Z,1628974461.934 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-14T20:54:21.935Z,1628974461.935 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-14T20:54:21.935Z,1628974461.935 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-14T20:54:21.935Z,1628974461.935 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-14T20:54:22.716Z,1628974462.716 [PowerOnly](INFO): Powering up loadControl
2021-08-14T20:54:23.564Z,1628974463.564 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:35.561394
2021-08-14T20:54:24.870Z,1628974464.870 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T20:54:25.189Z,1628974465.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:54:25.189Z,1628974465.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:54:25.189Z,1628974465.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:54:25.190Z,1628974465.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:54:25.269Z,1628974465.269 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-14T20:54:25.573Z,1628974465.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,,E4
1,189,80,80,64,FF
2021-08-14T20:54:25.573Z,1628974465.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:54:25.574Z,1628974465.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:54:25.575Z,1628974465.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:54:25.651Z,1628974465.651 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-14T20:54:25.977Z,1628974465.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:54:26.021Z,1628974466.021 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-14T20:54:26.389Z,1628974466.389 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-14T20:54:26.836Z,1628974466.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,0217E,186,80,80,98,FF
2021-08-14T20:54:26.837Z,1628974466.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:54:26.859Z,1628974466.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205427.61*5F

2021-08-14T20:54:29.640Z,1628974469.640 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T20:54:30.017Z,1628974470.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:54:30.017Z,1628974470.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:54:30.018Z,1628974470.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:54:30.019Z,1628974470.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:54:30.417Z,1628974470.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,0217E,186,80,80,98,FF
2021-08-14T20:54:30.417Z,1628974470.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:54:30.417Z,1628974470.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:54:30.419Z,1628974470.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:54:30.859Z,1628974470.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:54:31.646Z,1628974471.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,0218B,186,80,80,98,FF
2021-08-14T20:54:31.646Z,1628974471.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:54:31.673Z,1628974471.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205432.46*5E

2021-08-14T20:54:34.470Z,1628974474.470 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T20:54:34.902Z,1628974474.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:54:34.902Z,1628974474.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:54:34.902Z,1628974474.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:54:34.903Z,1628974474.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:54:35.271Z,1628974475.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,0218B,186,80,80,98,FF
2021-08-14T20:54:35.271Z,1628974475.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:54:35.271Z,1628974475.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:54:35.273Z,1628974475.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:54:35.673Z,1628974475.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:54:36.485Z,1628974476.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,0218B,186,80,80,98,FF
2021-08-14T20:54:36.486Z,1628974476.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:54:36.489Z,1628974476.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205437.31*5B

2021-08-14T20:54:39.326Z,1628974479.326 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T20:54:39.721Z,1628974479.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:54:39.721Z,1628974479.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:54:39.721Z,1628974479.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:54:39.722Z,1628974479.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:54:40.122Z,1628974480.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,0218B,186,80,80,98,FF
2021-08-14T20:54:40.122Z,1628974480.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:54:40.122Z,1628974480.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:54:40.124Z,1628974480.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:54:40.529Z,1628974480.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:54:41.341Z,1628974481.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,0218B,186,80,80,98,FF
2021-08-14T20:54:41.342Z,1628974481.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:54:41.345Z,1628974481.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205442.16*5C

2021-08-14T20:54:44.177Z,1628974484.177 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T20:54:44.569Z,1628974484.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:54:44.570Z,1628974484.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:54:44.571Z,1628974484.571 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:54:44.581Z,1628974484.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:54:44.974Z,1628974484.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,0218B,186,80,80,98,FF
2021-08-14T20:54:44.974Z,1628974484.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-14T20:54:44.974Z,1628974484.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-14T20:54:44.976Z,1628974484.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-14T20:54:45.377Z,1628974485.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-14T20:54:46.197Z,1628974486.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,0218B,186,80,80,98,FF
2021-08-14T20:54:46.198Z,1628974486.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-14T20:54:46.201Z,1628974486.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205447.01*5F

2021-08-14T20:54:46.624Z,1628974486.624 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 477.72 m. Transitioning DDM to standby.
2021-08-14T20:54:49.103Z,1628974489.103 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-14T20:54:49.103Z,1628974489.103 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-14T20:54:49.425Z,1628974489.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-14T20:54:49.425Z,1628974489.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-14T20:54:49.425Z,1628974489.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-14T20:54:49.426Z,1628974489.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-14T20:54:49.446Z,1628974489.446 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-14T20:54:49.446Z,1628974489.446 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-14T20:54:49.446Z,1628974489.446 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-14T20:54:49.446Z,1628974489.446 [DefaultWithUndock:LeaveDock] Stopped
2021-08-14T20:54:49.446Z,1628974489.446 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-14T20:54:49.446Z,1628974489.446 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-14T20:54:49.447Z,1628974489.447 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-14T20:54:49.472Z,1628974489.472 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-14T20:54:49.472Z,1628974489.472 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-14T20:54:49.473Z,1628974489.473 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-14T20:54:49.473Z,1628974489.473 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-14T20:54:49.473Z,1628974489.473 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-14T20:54:50.385Z,1628974490.385 [Radio_Surface](INFO): Powering up
2021-08-14T20:54:56.176Z,1628974496.176 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-14T20:55:22.184Z,1628974522.184 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-14T20:55:26.301Z,1628974526.301 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T20:55:39.896Z,1628974539.896 [NAL9602](INFO): SBD MO Status=0, MOMSN=23954, MT Status=0, MTMSN=0
2021-08-14T20:55:39.896Z,1628974539.896 [NAL9602](INFO): No messages in MT queue
2021-08-14T20:55:41.104Z,1628974541.104 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205541.00,A,4133.07495,N,07042.75082,W,0.564,0.00,140821,,,A*71
2021-08-14T20:55:41.107Z,1628974541.107 [NAL9602](INFO): GPS fix at 20210814T205541: (41.551249, -70.712514)
2021-08-14T20:55:41.185Z,1628974541.185 [UniversalFixResidualReporter](INFO): Fix residual: 23.6 %DT, over the last 602.2 m. Residual distance 141.9 m at bearing -147.4 degrees. Fix at (41.5513, -70.7125) with 346.5 m made good.
2021-08-14T20:55:41.186Z,1628974541.186 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-14T20:55:41.187Z,1628974541.187 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-14T20:55:54.275Z,1628974554.275 [PowerOnly](INFO): Powering down loadControl
2021-08-14T20:55:58.730Z,1628974558.730 [NAL9602](INFO): SBD MO Status=1, MOMSN=23955, MT Status=0, MTMSN=0
2021-08-14T20:55:58.782Z,1628974558.782 [NAL9602](INFO): Sent 98 bytes from file Logs/20210814T171856/Courier0054.lzma
2021-08-14T20:55:58.783Z,1628974558.783 [NAL9602](INFO): Packets left to send: 0
2021-08-14T20:56:01.440Z,1628974561.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T20:56:09.132Z,1628974569.132 [NAL9602](INFO): SBD MO Status=1, MOMSN=23956, MT Status=0, MTMSN=0
2021-08-14T20:56:09.190Z,1628974569.190 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0043.lzma
2021-08-14T20:56:09.190Z,1628974569.190 [NAL9602](INFO): Packets left to send: 3
2021-08-14T20:56:23.290Z,1628974583.290 [NAL9602](INFO): SBD MO Status=1, MOMSN=23957, MT Status=0, MTMSN=0
2021-08-14T20:56:23.349Z,1628974583.349 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0043.lzma
2021-08-14T20:56:23.349Z,1628974583.349 [NAL9602](INFO): Packets left to send: 2
2021-08-14T20:56:36.584Z,1628974596.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T20:56:40.584Z,1628974600.584 [NAL9602](INFO): SBD MO Status=2, MOMSN=23958, MT Status=2, MTMSN=0
2021-08-14T20:56:40.584Z,1628974600.584 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T20:57:04.442Z,1628974624.442 [NAL9602](INFO): SBD MO Status=2, MOMSN=23958, MT Status=2, MTMSN=0
2021-08-14T20:57:04.442Z,1628974624.442 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T20:57:11.728Z,1628974631.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T20:57:36.872Z,1628974656.872 [NAL9602](INFO): SBD MO Status=2, MOMSN=23958, MT Status=2, MTMSN=0
2021-08-14T20:57:36.873Z,1628974656.873 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T20:57:46.868Z,1628974666.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-14T20:57:59.398Z,1628974679.398 [NAL9602](INFO): SBD MO Status=1, MOMSN=23958, MT Status=0, MTMSN=0
2021-08-14T20:57:59.447Z,1628974679.447 [NAL9602](INFO): Sent 184 bytes from file Logs/20210814T171856/Express0043.lzma
2021-08-14T20:57:59.447Z,1628974679.447 [NAL9602](INFO): Packets left to send: 1
2021-08-14T20:58:15.104Z,1628974695.104 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-14T20:58:16.992Z,1628974696.992 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003128
2021-08-14T20:58:18.300Z,1628974698.300 [NAL9602](INFO): SBD MO Status=2, MOMSN=23959, MT Status=2, MTMSN=0
2021-08-14T20:58:18.300Z,1628974698.300 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-14T20:58:22.015Z,1628974702.015 [DataOverHttps](INFO): Sending 592 bytes from file Logs/20210814T171856/Express0043.lzma
2021-08-14T20:58:23.014Z,1628974703.014 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0043.lzma.bak
2021-08-14T20:58:23.014Z,1628974703.014 [DataOverHttps](INFO): SBD MOMSN=438933
2021-08-14T20:58:34.059Z,1628974714.059 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210814T171856/Express0046.lzma
2021-08-14T20:58:35.062Z,1628974715.062 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0046.lzma.bak
2021-08-14T20:58:35.062Z,1628974715.062 [DataOverHttps](INFO): SBD MOMSN=438956
2021-08-14T20:58:46.108Z,1628974726.108 [DataOverHttps](INFO): Sending 197 bytes from file Logs/20210814T171856/Express0049.lzma
2021-08-14T20:58:47.110Z,1628974727.110 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0049.lzma.bak
2021-08-14T20:58:47.110Z,1628974727.110 [DataOverHttps](INFO): SBD MOMSN=438958
2021-08-14T20:58:49.006Z,1628974729.006 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-14T20:58:58.173Z,1628974738.173 [DataOverHttps](INFO): Sending 278 bytes from file Logs/20210814T171856/Express0052.lzma
2021-08-14T20:58:59.174Z,1628974739.174 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0052.lzma.bak
2021-08-14T20:58:59.174Z,1628974739.174 [DataOverHttps](INFO): SBD MOMSN=438961
2021-08-14T20:58:59.940Z,1628974739.940 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-14T20:58:59.940Z,1628974739.940 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-14T20:58:59.940Z,1628974739.940 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-14T20:59:00.001Z,1628974740.001 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-14T20:59:00.388Z,1628974740.388 [RDI_PathfinderUp](INFO): Powering down
2021-08-14T20:59:01.173Z,1628974741.173 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-14T20:59:01.173Z,1628974741.173 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-14T20:59:10.221Z,1628974750.221 [DataOverHttps](INFO): Sending 585 bytes from file Logs/20210814T171856/Express0055.lzma
2021-08-14T20:59:11.222Z,1628974751.222 [DataOverHttps](INFO): Moved sent file to Logs/20210814T171856/Express0055.lzma.bak
2021-08-14T20:59:11.222Z,1628974751.222 [DataOverHttps](INFO): SBD MOMSN=438963
2021-08-14T20:59:12.904Z,1628974752.904 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-14T20:59:12.904Z,1628974752.904 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-14T20:59:12.905Z,1628974752.905 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-14T20:59:44.356Z,1628974784.356 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-14T20:59:44.361Z,1628974784.361 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814205944.780973,06,118,20,0090,0150,179,02,02,00,02,6,-01,-01,2,3,1,0,150,1.9,1.83,06,1.17,-01,1.91,59,14500,4000*4F

2021-08-14T21:01:09.606Z,1628974869.606 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-14T21:01:09.606Z,1628974869.606 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-14T21:01:09.609Z,1628974869.609 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-14T21:01:10.006Z,1628974870.006 [Micromodem](INFO): Nmea in: $CACST,6,1,20210814210110.775662,06,1309,25,0108,0150,179,02,02,01,02,-1,-01,-01,1,3,1,0,150,-100.0,-0.34,-100,3.34,-01,-1.07,-2147483648,14500,4000*42

2021-08-14T21:02:13.973Z,1628974933.973 [DataOverHttps](IMPORTANT): SBD MTMSN=20210814T210214
2021-08-14T21:02:18.995Z,1628974938.995 [DataOverHttps](INFO): Received command:restart logs